WorldWideScience

Sample records for cooperative robot teams

  1. Dynamic Task Allocation in Cooperative Robot Teams

    Directory of Open Access Journals (Sweden)

    Athanasios Tsalatsanis

    2010-02-01

    Full Text Available In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot\\'s ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.

  2. Dynamic Task Allocation in Cooperative Robot Teams

    Directory of Open Access Journals (Sweden)

    Athanasios Tsalatsanis

    2009-12-01

    Full Text Available In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot's ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.

  3. A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

    OpenAIRE

    Shu-qin Li; Lan Shuai; Xian-yi Cheng; Zhen-min Tang; Jing-yu Yang

    2005-01-01

    At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative relationships with constantly changeable task demand in Multi-robot field. First this paper whole and static describes organization model HWROM of robot team, then uses Markov course and Bayesian theorem for reference, dynamical describes the team cooperative relationships building. Finally from c...

  4. A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

    National Research Council Canada - National Science Library

    Zhen-min Tang; Xian-yi Cheng; Lan Shuai; Shu-qin Li; Jing-yu Yang

    2008-01-01

    At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative...

  5. A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

    National Research Council Canada - National Science Library

    Li, Shu-qin; Shuai, Lan; Cheng, Xian-yi; Tang, Zhen-min; Yang, Jing-yu

    2005-01-01

    At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative...

  6. Toward the Automated Synthesis of Cooperative Mobile Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    A current limitation in the real-world use of cooperating mobiIe robots is the difficulty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-specific basis. The objective of our research is to reduce the complexity of cooperative robotic systems through the development of a methodology that enables the automated synthesis of cooperative robot teams. We propose an approach to this problem that uses a combination of the theories of sensori-computational systems and information invariants, building on the earlier work of Donald, Rus, et al. We describe the notion of defining equivalence classes that serve as fundamental building blocks of more complex cooperative mobile robot behaviors. We postulate a methodology for framing mission requirements in terms of the goals and constraints of the problem, incorporating issues such as multi-robot interference, communication, control strategy, robot complexity, and so forth, into the mechanism. Our initial work restricts the robot application and design space to three multi-robot application domains we have previously studied and implemented: keeping formation, "mock" hazardous waste cleanup, and cooperative observation. This paper presents the foundational ideas upon which our approach to cooperative team design is based. Keywords: Cooperative behaviors, behavior synthesis, multi-robot learning

  7. The effect of action recognition and robot awareness in cooperative robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-03-01

    Previous research in cooperative robotics has investigated several possible ways of coordinating the actions of cooperative teams -- from implicit cooperation through sensory feedback to explicit cooperation using the exchange of communicated messages. These various approaches differ in the extent to which robot team members arc aware of, or recognize, the actions of their teammates, and the extent to which they use this information to effect their own actions. The research described in this paper investigates this issue of robot awareness of team member actions and its effect on cooperative team performance by examining the results of a series of experiments on teams of physical mobile robots performing a laboratory version of hazardous waste cleanup. In these experiments. we vary the team size (and thus the level of redundancy in team member capabilities) and the level of awareness robots have of their teammates` current actions and evaluate the team`s performance using two metrics: time and energy. The results indicate that the impact of action awareness on cooperative team performance is a function not only of team size and the metric of evaluation. but also on the degree to which the effects of actions can be sensed through the world, the relative amount of work that is available per robot, and the cost of replicated actions. From these empirical studies, we propose a number of principles regarding the use of action recognition and robot awareness of team member actions in cooperative teams -- principles which will help guide engineers in the design and composition of the proper cooperative team for a given robotic mission.

  8. Distributed Planning and Control for Teams of Cooperating Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    2004-06-15

    This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of the control approaches for distributed planning and cooperation in multi-robot teams.

  9. A marsupial robotic fish team: Design, motion and cooperation

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.

  10. Distributing Planning and Control for Teams of Cooperating Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    2004-07-19

    This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of our control approaches for distributed planning and cooperation in multi-robot teams. The primary objectives of this research project were to: (1) Develop autonomous control technologies to enable multiple vehicles to work together cooperatively, (2) Provide the foundational capabilities for a human operator to exercise oversight and guidance during the multi-vehicle task execution, and (3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for multi-robot teams. These objectives have been successfully met with the results implemented and demonstrated in a near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.

  11. Cooperating mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  12. Distributed control of multi-robot teams: Cooperative baton passing task

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

  13. A Case-Study for Life-Long Learning and Adaptation in Cooperative Robot Teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1999-09-19

    While considerable progress has been made in recent years toward the development of multi-robot teams, much work remains to be done before these teams are used widely in real-world applications. Two particular needs toward this end are the development of mechanisms that enable robot teams to generate cooperative behaviors on their own, and the development of techniques that allow these teams to autonomously adapt their behavior over time as the environment or the robot team changes. This paper proposes the use of the Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) application as a rich domain for studying the issues of multi-robot learning and adaptation. After discussing the need for learning and adaptation in multi-robot teams, this paper describes the CMOMMT application and its relevance to multi-robot learning. We discuss the results of the previously- developed, hand-generated algorithm for CMOMMT and the potential for learning that was discovered from the hand-generated approach. We then describe the early work that has been done (by us and others) to generate multi- robot learning techniques for the CMOMMT application, as well as our ongoing research to develop approaches that give performance as good, or better, than the hand-generated approach. The ultimate goal of this research is to develop techniques for multi-robot learning and adaptation in the CMOMMT application domain that will generalize to cooperative robot applications in other domains, thus making the practical use of multi-robot teams in a wide variety of real-world applications much closer to reality.

  14. Generating Self-Reliant Teams of Autonomous Cooperating Robots: Desired design Characteristics

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1999-05-01

    The difficulties in designing a cooperative team are significant. Several of the key questions that must be resolved when designing a cooperative control architecture include: How do we formulate, describe, decompose, and allocate problems among a group of intelligent agents? How do we enable agents to communicate and interact? How do we ensure that agents act coherently in their actions? How do we allow agents to recognize and reconcile conflicts? However, in addition to these key issues, the software architecture must be designed to enable multi-robot teams to be robust, reliable, and flexible. Without these capabilities, the resulting robot team will not be able to successfully deal with the dynamic and uncertain nature of the real world. In this extended abstract, we first describe these desired capabilities. We then briefly describe the ALLIANCE software architecture that we have previously developed for multi-robot cooperation. We then briefly analyze the ALLIANCE architecture in terms of the desired design qualities identified.

  15. Cooperative terrain model acquisition by a team of two or three point-robots

    Energy Technology Data Exchange (ETDEWEB)

    Rao, N.S.V.; Protopopescu, V. [Oak Ridge National Lab., TN (United States); Manickam, N. [DePauw Univ., Greencastle (India)

    1996-04-01

    We address the model acquisition problem for an unknown planar terrain by a team of two or three robots. The terrain is cluttered by a finite number of polygonal obstacles whose shapes and positions are unknown. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scan operations executed from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming of all the robot operations. We employ the restricted visibility graph methods in a hierarchical setup. For terrains with convex obstacles and for teams of n(= 2, 3) robots, we prove that the sensing time is reduced by a factor of 1/n. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into n-connected and (n - 1)-or-less connected components is considered. The performance for the n(= 2, 3) robot team is expressed in terms of the sizes of n-connected components, and the sizes and diameters of (n - 1)-or-less connected components.

  16. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  17. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  18. Cooperative Relative Localization for Mobile Robot Teams: An Ego-Centric Approach

    Science.gov (United States)

    2003-03-01

    solution to the simultaneous localization and map building (SLAM) problem. IEEE Transactions on Robotics and Automation, 17(3):229–241. Fox, D., Burgard...geometric beacons. IEEE Transactions on Robotics and Automation, 7(3):376–382. Lu, F. and Milios, E. (1997). Globally consistent range scan alignment

  19. Cooperative robots and sensor networks

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

    Mobile robots and Wireless Sensor Networks (WSNs) have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and WSNs have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other.
 The primary objective of book is to provide a reference for cutting-edge studies and research trends pertaining to robotics and sensor networks, and in particular for the coupling between them. The book consists of five chapters. The first chapter presents a cooperation strategy for teams of multiple autonomous vehicles to solve the rendezvous problem. The second chapter is motivated by the need to improve existing solutions that deal with connectivity prediction, and proposed a genetic machine learning approach for link-quality prediction. The third chapter presents an arch...

  20. Collaborative robotic team design and integration

    Science.gov (United States)

    Spofford, John R.; Anhalt, David J.; Herron, Jennifer B.; Lapin, Brett D.

    2000-07-01

    Teams of heterogeneous mobile robots are a key aspect of future unmanned systems for operations in complex and dynamic urban environments, such as that envisions by DARPA's Tactical Mobile Robotics program. Interactions among such team members enable a variety of mission roles beyond those achievable with single robots or homogeneous teams. Key technologies include docking for power and data transfer, marsupial transport and deployment, collaborative team user interface, cooperative obstacle negotiation, distributed sensing, and peer inspection. This paper describes recent results in the integration and evaluation of component technologies within a collaborative system design. Integration considerations include requirement definition, flexible design management, interface control, and incremental technology integration. Collaborative system requirements are derived from mission objectives and robotic roles, and impact system and individual robot design at several levels. Design management is a challenge in a dynamic environment, with rapid evolution of mission objectives and available technologies. The object-oriented system model approach employed includes both software and hardware object representations to enable on- the-fly system and robot reconfiguration. Controlled interfaces among robots include mechanical, behavioral, communications, and electrical parameters. Technologies are under development by several organizations within the TMR program community. The incremental integration and validation of these within the collaborative system architecture reduces development risk through frequent experimental evaluations. The TMR system configuration includes Packbot-Perceivers, Packbot- Effectors, and Throwbots. Surrogates for these robots are used to validate and refine designs for multi-robot interaction components. Collaborative capability results from recent experimental evaluations are presented.

  1. Cooperative Team Networks

    Science.gov (United States)

    2016-06-01

    effectiveness, and the ability to experimentally manipulate endogenous team processes . She reviewed the results of a set of experiments in the Hidden...Profile paradigm of team research that examine how endogenous communication processes influence emergent network structure and team performance...experimentally manipulate endogenous team processes . She reviewed the results of a set of experiments in the Hidden Profile paradigm of team research

  2. Heterogeneous Multi-Robot Cooperation

    Science.gov (United States)

    1994-02-01

    the objects the robots manipulate are hazardous waste. I have not actually applied the robots to reA toxic waste spills, since they are simply small...1993] Bruce Randall Donald, James Jennings, and Daniela Rus. To- wards a theory of information invariants for cooperating autonomous mobile robots

  3. Human-Robot Teams in Entertainment and Other Everyday Scenarios

    CERN Document Server

    Fazli, Pooyan

    2009-01-01

    A new and relatively unexplored research direction in robotics systems is the coordination of humans and robots working as a team. In this paper, we focus upon problem domains and tasks in which multiple robots, humans and other agents are cooperating through coordination to satisfy a set of goals or to maximize utility. We are primarily interested in applications of human robot coordination in entertainment and other activities of daily life. We discuss the teamwork problem and propose an architecture to address this.

  4. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

  5. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    M.D. McKay; M.O. Anderson; N.S. Flann (Utah State University); R.A. Kinoshita; R.W. Gunderson; W.D. Willis (INEEL)

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University�s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in real-time. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  6. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Matthew Oley; Kinoshita, Robert Arthur; Mckay, Mark D; Willis, Walter David; Gunderson, R.W.; Flann, N.S.

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University’s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in realtime. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  7. Visual world perception modeling and control of cooperative mobile robots

    Science.gov (United States)

    Shirkhodaie, Amir

    2003-10-01

    There has been a great interest in the recent years in visual coordination and target tracking for mobile robots cooperating in unstructured environments. This paper describes visual servo control techniques suitable for intelligent task planning of cooperative robots operating in unstructured environment. In this paper, we have considered a team of semi-autonomous robots controlled by a remote supervisory control system. We have presented an algorithm for visual position tracking of individual cooperative robots within their working environment. Initially, we present a technique suitable for visual servoing of a robot toward its landmark targets. Secondly, we present an image-processing technique that utilizes images from a remote surveillance camera for localization of the robots within the operational environment. In this algorithm, the surveillance camera can be either stationary or mobile. The supervisor control system keeps tracks of relative locations of individual robots and utilizes relative coordinate information of the robots to plan their cooperative activities. We presented some results of this research effort that illustrates effectiveness of the proposed algorithms for cooperative robotic systems visual team working and target tracking.

  8. Communicating Cooperative Robots with Bluetooth

    DEFF Research Database (Denmark)

    Schiøler, Henrik; Son, L.T.; Madsen, Ole Brun

    2001-01-01

    A generic architecture for system of cooperating communicating mobile robots is presented. An overall structure is defined from a modularity viewpoint, where a number of generic modules are identified; low level communication interface, network layer services such as initial and adaptive network...

  9. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    NARCIS (Netherlands)

    Wei, C.

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot team

  10. Multi-agent robotic cooperative assembly system

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Presents a multi-robot cooperative assembly systen (MRCAS) which is composed of an organizer computer, three industrial robots, PUMA 562 mounted on an onni-directional vehicle, PUMA 760 and Adept I and organized in to a hierarchical structure with the cooperation organization on the top and the coordination motion at the bottom to solve the main problem of coordination and cooperation among robots, and concludes with experimental results that MRCAS is reconfigurable and adaptable as the mission changes.

  11. Multi-robot team design for real-world applications

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1996-10-01

    Many of these applications are in dynamic environments requiring capabilities distributed in functionality, space, or time, and therefore often require teams of robots to work together. While much research has been done in recent years, current robotics technology is still far from achieving many of the real world applications. Two primary reasons for this technology gap are that (1) previous work has not adequately addressed the issues of fault tolerance and adaptivity in multi-robot teams, and (2) existing robotics research is often geared at specific applications and is not easily generalized to different, but related, applications. This paper addresses these issues by first describing the design issues of key importance in these real-world cooperative robotics applications: fault tolerance, reliability, adaptivity, and coherence. We then present a general architecture addressing these design issues (called ALLIANCE) that facilities multi-robot cooperation of small- to medium-sized teams in dynamic environments, performing missions composed of loosely coupled subtasks. We illustrate an implementation of ALLIANCE in a real-world application, called Bounding Overwatch, and then discuss how this architecture addresses our key design issues.

  12. Cooperative Object Transportation With Multiple Humanoid Robots

    OpenAIRE

    呉, 孟鴻

    2015-01-01

    There are more and more robots appearing in factory or our daily life due to development of recent technology. Among all types of robots, humanoid robots have the potential to perform multiple tasks and walk on uneven terrain like human beings. Hence, it is expected that humanoid robots work instead of human beings at dangerous zones such as plant facilities. In such dangerous zones, humanoid robots must cooperate with each other in order to carry heavy and large objects. Although there is...

  13. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    NARCIS (Netherlands)

    Wei, C.

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot

  14. Robotics Team Lights Up New Year's Eve

    Science.gov (United States)

    LeBlanc, Cheryl

    2011-01-01

    A robotics team from Muncie, Indiana--the PhyXTGears--is made up of high school students from throughout Delaware County. The group formed as part of the FIRST Robotics program (For Inspiration and Recognition of Science and Technology), an international program founded by inventor Dean Kamen in which students work with professional engineers and…

  15. Early Identification of Ineffective Cooperative Learning Teams

    Science.gov (United States)

    Hsiung, C .M.; Luo, L. F.; Chung, H. C.

    2014-01-01

    Cooperative learning has many pedagogical benefits. However, if the cooperative learning teams become ineffective, these benefits are lost. Accordingly, this study developed a computer-aided assessment method for identifying ineffective teams at their early stage of dysfunction by using the Mahalanobis distance metric to examine the difference…

  16. Mission Reliability Estimation for Repairable Robot Teams

    Directory of Open Access Journals (Sweden)

    Stephen B. Stancliff

    2008-11-01

    Full Text Available Many of the most promising applications for mobile robots require very high reliability. The current generation of mobile robots is, for the most part, highly unreliable. The few mobile robots that currently demonstrate high reliability achieve this reliability at a high financial cost. In order for mobile robots to be more widely used, it will be necessary to find ways to provide high mission reliability at lower cost. Comparing alternative design paradigms in a principled way requires methods for comparing the reliability of different robot and robot team configurations. In this paper, we present the first principled quantitative method for performing mission reliability estimation for mobile robot teams. We also apply this method to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Using conservative estimates of the cost-reliability relationship, our results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares.

  17. ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  18. Distributed Lazy Q-learning for Cooperative Mobile Robots

    Directory of Open Access Journals (Sweden)

    Claude F. Touzet

    2008-11-01

    Full Text Available Compared to single robot learning, cooperative learning adds the challenge of a much larger search space (combined individual search spaces, awareness of other team members, and also the synthesis of the individual behaviors with respect to the task given to the group. Over the years, reinforcement learning has emerged as the main learning approach in autonomous robotics, and lazy learning has become the leading bias, allowing the reduction of the time required by an experiment to the time needed to test the learned behavior performance. These two approaches have been combined together in what is now called lazy Q-learning, a very efficient single robot learning paradigm. We propose a derivation of this learning to team of robots : the ?pessimistic? algorithm able to compute for each team member a lower bound of the utility of executing an action in a given situation. We use the cooperative multi-robot observation of multiple moving targets (CMOMMT application as an illustrative example, and study the efficiency of the Pessimistic Algorithm in its task of inducing learning of cooperation.

  19. Searching dynamic agents with a team of mobile robots.

    Science.gov (United States)

    Juliá, Miguel; Gil, Arturo; Reinoso, Oscar

    2012-01-01

    This paper presents a new algorithm that allows a team of robots to cooperatively search for a set of moving targets. An estimation of the areas of the environment that are more likely to hold a target agent is obtained using a grid-based Bayesian filter. The robot sensor readings and the maximum speed of the moving targets are used in order to update the grid. This representation is used in a search algorithm that commands the robots to those areas that are more likely to present target agents. This algorithm splits the environment in a tree of connected regions using dynamic programming. This tree is used in order to decide the destination for each robot in a coordinated manner. The algorithm has been successfully tested in known and unknown environments showing the validity of the approach.

  20. Searching Dynamic Agents with a Team of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Miguel Juliá

    2012-06-01

    Full Text Available This paper presents a new algorithm that allows a team of robots to cooperatively search for a set of moving targets. An estimation of the areas of the environment that are more likely to hold a target agent is obtained using a grid-based Bayesian filter. The robot sensor readings and the maximum speed of the moving targets are used in order to update the grid. This representation is used in a search algorithm that commands the robots to those areas that are more likely to present target agents. This algorithm splits the environment in a tree of connected regions using dynamic programming. This tree is used in order to decide the destination for each robot in a coordinated manner. The algorithm has been successfully tested in known and unknown environments showing the validity of the approach.

  1. Leader–Member Skill Distance, Team Cooperation, and Team Performance

    DEFF Research Database (Denmark)

    Tian, Longwei; Li, Yuan; Li, Peter Ping

    2015-01-01

    performance. Building upon input-process-output framework from the perspective of individualist and collectivist cultures, we propose that the association between leader–member skill distance and team performance has an inverted-U shape in individualist cultures. Further, in such cultures, team cooperation...... can augment the positive effect of leader–member skill distance on team performance. In contrast, in collectivist cultures, the association between leader–member skill distance and team performance has a monotonic and positive shape, and team cooperation will attenuate the positive effect of leader......–member skill distance on team performance. We find the empirical support for our views with a mixed-methods design: a qualitative study interviewing informants in different cultures to clarify the psychological mechanisms, and also a quantitative study analyzing the data from US’s National Basketball...

  2. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    OpenAIRE

    C. Wei

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot teams. Social deliberation should be taken into consideration in such a multi-robot system, which requires that the robots are capable of generating long term plans to achieve a global or team goal, ra...

  3. The Evolution of Cooperative Behaviours in Physically Heterogeneous Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Jianhua Yang

    2012-12-01

    Full Text Available Evolutionary Robotics (ER is a methodology that uses evolutionary computation to develop controllers for autonomous robots. The existing works focus on single robot systems or physically homogenous multi-robot teams, although physical heterogeneousness is more prevalent in the real world. It is therefore instructive to examine whether cooperative behaviours can be synthesized using artificial evolution for a team of physically heterogeneous robots. This paper makes an important contribution in answering the question of whether robots with distinct capabilities can synthesize their control strategies to accommodate their own capabilities without human intervention. We present an empirical analysis of the collaboration mechanisms and suggest guidelines about how to choose appropriate evolution methods. Simulated experiments with a team of e-puck robots show that evolution can lead to effective controllers for robots with distinct capabilities.

  4. The Evolution of Cooperative Behaviours in Physically Heterogeneous Multi-robot Systems

    Directory of Open Access Journals (Sweden)

    Jianhua Yang

    2012-12-01

    Full Text Available Evolutionary Robotics (ER is a methodology that uses evolutionary computation to develop controllers for autonomous robots. The existing works focus on\tsingle robot systems or physically homogenous multi‐robot teams, although physical heterogeneousness is more prevalent in the real world. It is therefore instructive to examine whether cooperative behaviours can be synthesized using artificial evolution for\ta team of\tphysically heterogeneous robots. This paper makes an important contribution in answering the question of whether robots with distinct capabilities can synthesize their control strategies to accommodate their own capabilities without human intervention. We present an empirical analysis of the collaboration mechanisms and suggest guidelines about how to choose appropriate evolution methods. Simulated experiments with a team of e‐puck robots show that evolution can lead to effective controllers for robots with distinct capabilities.

  5. L-ALLIANCE: a mechanism for adaptive action selection in heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-11-01

    In practical applications of robotics, it is usually quite difficult, if not impossible, for the system designer to fully predict the environmental states in which the robots will operate. The complexity of the problem is further increased when dealing with teams of robots which themselves may be incompletely known and characterized in advance. It is thus highly desirable for robot teams to be able to adapt their performance during the mission due to changes in the environment, or to changes in other robot team members. In previous work, we introduced a behavior-based mechanism called the ALLIANCE architecture -- that facilitates the fault tolerant cooperative control of multi-robot teams. However, this previous work did not address the issue of how to dynamically update the control parameters during a mission to adapt to ongoing changes in the environment or in the robot team, and to ensure the efficiency of the collective team actions. In this paper, we address this issue by proposing the L-ALLIANCE mechanism, which defines an automated method whereby robots can use knowledge learned from previous experience to continually improve their collective action selection when working on missions composed of loosely coupled, discrete subtasks. This ability to dynamically update robotic control parameters provides a number of distinct advantages: it alleviates the need for human tuning of control parameters, it facilitates the use of custom-designed multi-robot teams for any given application, it improves the efficiency of the mission performance, and It allows robots to continually adapt their performance over time due to changes in the robot team and/or the environment. We describe the L-ALLIANCE mechanism, present the results of various alternative update strategies we investigated, present the formal model of the L-ALLIANCE mechanism, and present the results of a simple proof of concept implementation on a small team of heterogeneous mobile robots.

  6. Team-oriented programming for multiple mobile robots

    Institute of Scientific and Technical Information of China (English)

    Sun Bo; Chen Weidong; Xi Yugeng

    2005-01-01

    This paper presents a team-oriented programming method specially designed for multiple mobile robots. The team, which is a typical constitution structure in multi-robot system, forms after the user selects suitable robots, assigns their roles and sets related parameters. Team behavior module are introduced for the team-level behavior description and the temporal chain of these modules, realized by finite state automata, partitions the team tasks into discrete operating states and triggers. A graphical programming tool is designed for the team task description with visual diagrams. The real robots experiment of adaptive formation shows the system's usability and effectivity.

  7. Cooperative robots and sensor networks 2014

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

    This book is the second volume on Cooperative Robots and Sensor Networks. The primary objective of this book is to provide an up-to-date reference for cutting-edge studies and research trends related to mobile robots and wireless sensor networks, and in particular for the coupling between them. Indeed, mobile robots and wireless sensor networks have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and wireless sensor networks have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other. The book consists of ten chapters, organized into four parts. The first part of the book presents three chapters related to localization of mobile robots using wireless sensor networks. Two chapters presented new solutions based Extended Kalman Filter and Particle Fi...

  8. Fully Distributed Cooperative Motion of Group Robots

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    This paper is focused on the fully distributed cooperative motion of group robots and proposes a new approach. Each robot has a local sensing ability and a simple action selection strategy. Computational complexity is decreased by the fully distributed architecture and the information insufficiency is solved by the interaction between the robots and the environment. Variable loop and random method are used to deal with the fluctuation and equity selection problem and the rapidity and reasonabiliiy are guaranteed. Some simulations have proved the effectiveness of the proposed approach.

  9. Coordinating Robot Teams for Disaster Relief

    Science.gov (United States)

    2015-05-01

    Coordinating Robot Teams for Disaster Relief Mark Roberts1, Thomas Apker2, Benjamin Johnson1, Bryan Auslander3, Briana Wellman4 & David W...for Humanitarian Assistance / Disaster Relief operations. We demonstrate that the SDP responds to a dynamic, open world while ensuring that vehicles...facilitate such information gathering tasks, freeing humans to perform more critical tasks in Humanitarian Assistance / Disaster Relief (HA/DR

  10. Teleoperation of a Team of Robots with Vision

    Science.gov (United States)

    2010-11-01

    of five to fifty monocular mobile robots that are jointly controlled by a single user with a joystick. Each robot communicates with nearby robots...effort, we focused on the image sensing opportunities provided by such a team of monocular mobile robots and the computer vision capabilities required to

  11. Multimodal interaction for human-robot teams

    Science.gov (United States)

    Burke, Dustin; Schurr, Nathan; Ayers, Jeanine; Rousseau, Jeff; Fertitta, John; Carlin, Alan; Dumond, Danielle

    2013-05-01

    Unmanned ground vehicles have the potential for supporting small dismounted teams in mapping facilities, maintaining security in cleared buildings, and extending the team's reconnaissance and persistent surveillance capability. In order for such autonomous systems to integrate with the team, we must move beyond current interaction methods using heads-down teleoperation which require intensive human attention and affect the human operator's ability to maintain local situational awareness and ensure their own safety. This paper focuses on the design, development and demonstration of a multimodal interaction system that incorporates naturalistic human gestures, voice commands, and a tablet interface. By providing multiple, partially redundant interaction modes, our system degrades gracefully in complex environments and enables the human operator to robustly select the most suitable interaction method given the situational demands. For instance, the human can silently use arm and hand gestures for commanding a team of robots when it is important to maintain stealth. The tablet interface provides an overhead situational map allowing waypoint-based navigation for multiple ground robots in beyond-line-of-sight conditions. Using lightweight, wearable motion sensing hardware either worn comfortably beneath the operator's clothing or integrated within their uniform, our non-vision-based approach enables an accurate, continuous gesture recognition capability without line-of-sight constraints. To reduce the training necessary to operate the system, we designed the interactions around familiar arm and hand gestures.

  12. Soldier/robot team acoustic detection

    Science.gov (United States)

    Young, Stuart H.; Scanlon, Michael V.

    2003-09-01

    The future battlefield will require an unprecedented level of automation in which soldier-operated, autonomous, and semi-autonomous ground, air, and sea platforms along with mounted and dismounted soldiers will function as a tightly coupled team. Sophisticated robotic platforms with diverse sensor suites will be an integral part of the Objective Force, and must be able to collaborate not only amongst themselves but also with their manned partners. The Army Research Laboratory has developed a robot-based acoustic detection system that will detect and localize on an impulsive noise event, such as a sniper's weapon firing. Additionally, acoustic sensor arrays worn on a soldier's helmet or equipment can enhance his situational awareness and RSTA capabilities. The Land Warrior or Objective Force Warrior body-worn computer can detect tactically significant impulsive signatures from bullets, mortars, artillery, and missiles or spectral signatures from tanks, helicopters, UAVs, and mobile robots. Time-difference-of-arrival techniques can determine a sound's direction of arrival, while head attitude sensors can instantly determine the helmet orientation at time of capture. With precision GPS location of the soldier, along with the locations of other soldiers, robots, or unattended ground sensors that heard the same event, triangulation techniques can produce an accurate location of the target. Data from C-4 explosions and 0.50-Caliber shots shows that both helmet and robot systems can localize on the same event. This provides an awesome capability - mobile robots and soldiers working together on an ever-changing battlespace to detect the enemy and improve the survivability, mobility, and lethality of our future warriors.

  13. Foundations of Team and Cooperation Management

    Directory of Open Access Journals (Sweden)

    Alexandru W. A. POPP

    2012-06-01

    Full Text Available The present study is concerned with a realistic framework and model that managers can employ in order to increase the synergy of their teams (i.e. increase the cooperation between the members of a group and to offer different devices for a proper team leadership. There are many elements that contribute to the profitability of a business and of a network, where the latter is dependent on the actions of actors involved in that specific network. This research focuses on the analysis of interactions between members forming different teams and between the teams themselves, as well as on the leader’s management of the teams, members of teams and environment. A detailed description and analysis of laws, thus, their meaning and modus operandi, is provided. Laws are obligations backed by incentives. In order to properly understand today’s business environment, a quick overview of supply chains is offered: there is no firm that is not using or not part of a supply chain. The responsibilities that a manager has towards his teams and members of the teams are also portrayed.The foundations of a mathematical (game theoretic framework for the coalitions (teams is presented in order to better understand the setting and also to build a model that can be used in different environments. An externality to which particular attention is given to is the deviation of teams’ members. Moreover, certain recommendations, along with the reasons and outcomes regarding the management and administration of everyone involved in teams, are also conferred.

  14. Preliminary results in force-guided assembly for teams of heterogeneous robots

    Science.gov (United States)

    Rojas, Juan; Peters, R. A., II

    2009-05-01

    The missions to the Moon and to Mars currently being planned by NASA require the advanced deployment of robots to prepare sites for human life support prior to the arrival of astronauts. Part of the robot's work will be the assembly of modular structures such as solar arrays, radiators, antennas, propellant tanks, and habitation modules. The construction will require teams of robots to work cooperatively and with a certain degree of independence. Such systems are complex and require of human intervention in the form of teleoperation attending unexpected contingencies. Latency in communications, however, will require that robots perform autonomous tasks during this time window. This paper proposes an approach to maximize the likelihood of success for teams of heterogeneous robots as they autonomously perform assembly tasks using force feedback to guide the process. An evaluation of the challenges related to the cooperation of two heterogeneous robots to join two parts into a stable, rigid configuration in a loosely structured environment is conducted. A control basis is such approach: it recasts a control problem by concurrently running a series of controllers to encode complex robot behavior. Each controller represents a control law that parses the underlying continuous control space and provides asymptotic stability, even under local perturbations. The control basis approach allows several controllers to be active concurrently through the null space control technique. Preliminary experimental results are presented that demonstrate the effectiveness of the control basis to address the challenges of assembly tasks by teams of heterogeneous robots.

  15. The role of roles: physical cooperation between humans and robots

    OpenAIRE

    Küçükyılmaz, Ayşe; Sezgin, Tevfik Metin; Başdoğan, Çağatay; Moertl, Alexander; Lawitzky, Martin; Hirche, Sandra

    2012-01-01

    Since the strict separation of working spaces of humans and robots has experienced a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach. In this context, physical human-robot interaction raises a number of questions regarding a desired intuitive robot behavior. The continuous bilateral information and energy exchange requires an appropriate continuous robot feedback. Investigating a cooperative manipulation task, the desired...

  16. Safe cooperative robot dynamics on graphs

    OpenAIRE

    Ghrist, Robert; Koditschek, Daniel

    2000-01-01

    This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of pathways. In contrast to the case of locally Euclidean configuration spaces, regularization of collisions is no longer a local procedure, and issues concerning the global topology of configuration spaces must be addressed. The focus of the present inquiry is...

  17. Hands Off: Mentoring a Student-Led Robotics Team

    Science.gov (United States)

    Dolenc, Nathan R.; Mitchell, Claire E.; Tai, Robert H.

    2016-01-01

    Mentors play important roles in determining the working environment of out-of-school-time clubs. On robotics teams, they provide guidance in hopes that their protégés progress through an engineering process. This study examined how mentors on one robotics team who defined their mentoring style as "let the students do the work" navigated…

  18. A secure and easy-to-implement web-based communication framework for caregiving robot teams

    Science.gov (United States)

    Tuna, G.; Daş, R.; Tuna, A.; Örenbaş, H.; Baykara, M.; Gülez, K.

    2016-03-01

    In recent years, robots have started to become more commonplace in our lives, from factory floors to museums, festivals and shows. They have started to change how we work and play. With an increase in the population of the elderly, they have also been started to be used for caregiving services, and hence many countries have been investing in the robot development. The advancements in robotics and wireless communications has led to the emergence of autonomous caregiving robot teams which cooperate to accomplish a set of tasks assigned by human operators. Although wireless communications and devices are flexible and convenient, they are vulnerable to many risks compared to traditional wired networks. Since robots with wireless communication capability transmit all data types, including sensory, coordination, and control, through radio frequencies, they are open to intruders and attackers unless protected and their openness may lead to many security issues such as data theft, passive listening, and service interruption. In this paper, a secure web-based communication framework is proposed to address potential security threats due to wireless communication in robot-robot and human-robot interaction. The proposed framework is simple and practical, and can be used by caregiving robot teams in the exchange of sensory data as well as coordination and control data.

  19. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

    Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

  20. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

    Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

  1. Modeling Leadership Styles in Human-Robot Team Dynamics

    Science.gov (United States)

    Cruz, Gerardo E.

    2005-01-01

    The recent proliferation of robotic systems in our society has placed questions regarding interaction between humans and intelligent machines at the forefront of robotics research. In response, our research attempts to understand the context in which particular types of interaction optimize efficiency in tasks undertaken by human-robot teams. It is our conjecture that applying previous research results regarding leadership paradigms in human organizations will lead us to a greater understanding of the human-robot interaction space. In doing so, we adapt four leadership styles prevalent in human organizations to human-robot teams. By noting which leadership style is more appropriately suited to what situation, as given by previous research, a mapping is created between the adapted leadership styles and human-robot interaction scenarios-a mapping which will presumably maximize efficiency in task completion for a human-robot team. In this research we test this mapping with two adapted leadership styles: directive and transactional. For testing, we have taken a virtual 3D interface and integrated it with a genetic algorithm for use in &le-operation of a physical robot. By developing team efficiency metrics, we can determine whether this mapping indeed prescribes interaction styles that will maximize efficiency in the teleoperation of a robot.

  2. Modeling Leadership Styles in Human-Robot Team Dynamics

    Science.gov (United States)

    Cruz, Gerardo E.

    2005-01-01

    The recent proliferation of robotic systems in our society has placed questions regarding interaction between humans and intelligent machines at the forefront of robotics research. In response, our research attempts to understand the context in which particular types of interaction optimize efficiency in tasks undertaken by human-robot teams. It is our conjecture that applying previous research results regarding leadership paradigms in human organizations will lead us to a greater understanding of the human-robot interaction space. In doing so, we adapt four leadership styles prevalent in human organizations to human-robot teams. By noting which leadership style is more appropriately suited to what situation, as given by previous research, a mapping is created between the adapted leadership styles and human-robot interaction scenarios-a mapping which will presumably maximize efficiency in task completion for a human-robot team. In this research we test this mapping with two adapted leadership styles: directive and transactional. For testing, we have taken a virtual 3D interface and integrated it with a genetic algorithm for use in &le-operation of a physical robot. By developing team efficiency metrics, we can determine whether this mapping indeed prescribes interaction styles that will maximize efficiency in the teleoperation of a robot.

  3. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

  4. Cooperative transport by small teams of molecular motors

    OpenAIRE

    Klumpp, Stefan; Muller, Melanie J. I.; Lipowsky, Reinhard

    2006-01-01

    Molecular motors power directed transport of cargoes within cells. Even if a single motor is sufficient to transport a cargo, motors often cooperate in small teams. We discuss the cooperative cargo transport by several motors theoretically and explore some of its properties. In particular we emphasize how motor teams can drag cargoes through a viscous environment.

  5. Alternate Location Method of a Robot Team in Unknown Environment

    Institute of Scientific and Technical Information of China (English)

    WANG Jian-zhong; LIU Jing-jing

    2008-01-01

    The alternate location method of a robot team is proposed. Three of the robots are kept still as beacon robots, not always the same ones, while the others are regarded as mobile robots. The mobile robots alternatively measure the distance between one of them and three beacon robots with ultrasonic measurement module. The distance data are combined with its dead-reckoning information using iterated extended Kalman filter(IEKF) to realize the optimal estimate of its position. According to the condition the future beacon robots positions should be desired ones, the target function and the nonlinear constrain equations are set up which are used by nonlinear optimization algorithm to estimate the position of the future beacon robots. By alternately changing the robots roles as active beacon, the alternate location in unknown environment can be realized. Process and result of the simulation test are given and the position estimation error is within±10mm, which proves the validity of this method.

  6. THE EFFECTS OF TASK INTERDEPENDENCE, TEAM COOPERATION, AND TEAM CONFLICT ON JOB PERFORMANCE

    National Research Council Canada - National Science Library

    Chun-Chang Lee; Yu-Hsin Lin; Hsin-Chung Huang; Wei-Wen Huang; Hsu-Hung Teng

    2015-01-01

      Using a linear structural model, we investigated the impact of task interdependence, task and relationship conflict in a team, and team cooperation on job performance of real estate brokers in Kaohsiung, Taiwan...

  7. Team Reasoning and Intentional Cooperation for Mutual Benefit

    OpenAIRE

    Sugden Robert

    2015-01-01

    This paper proposes a concept of intentional cooperation for mutual benefit. This concept uses a form of team reasoning in which team members aim to achieve common interests, rather than maximising a common utility function, and in which team reasoners can coordinate their behaviour by following pre-existing practices. I argue that a market transaction can express intentions for mutually beneficial cooperation even if, extensionally, participation in the transaction promotes each party’s self...

  8. Forming Human-Robot Teams Across Time and Space

    Science.gov (United States)

    Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

    2012-01-01

    NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot

  9. Human-Robot Planetary Exploration Teams

    Science.gov (United States)

    Tyree, Kimberly

    2004-01-01

    The EVA Robotic Assistant (ERA) project at NASA Johnson Space Center studies human-robot interaction and robotic assistance for future human planetary exploration. Over the past four years, the ERA project has been performing field tests with one or more four-wheeled robotic platforms and one or more space-suited humans. These tests have provided experience in how robots can assist humans, how robots and humans can communicate in remote environments, and what combination of humans and robots works best for different scenarios. The most efficient way to understand what tasks human explorers will actually perform, and how robots can best assist them, is to have human explorers and scientists go and explore in an outdoor, planetary-relevant environment, with robots to demonstrate what they are capable of, and roboticists to observe the results. It can be difficult to have a human expert itemize all the needed tasks required for exploration while sitting in a lab: humans do not always remember all the details, and experts in one arena may not even recognize that the lower level tasks they take for granted may be essential for a roboticist to know about. Field tests thus create conditions that more accurately reveal missing components and invalid assumptions, as well as allow tests and comparisons of new approaches and demonstrations of working systems. We have performed field tests in our local rock yard, in several locations in the Arizona desert, and in the Utah desert. We have tested multiple exploration scenarios, such as geological traverses, cable or solar panel deployments, and science instrument deployments. The configuration of our robot can be changed, based on what equipment is needed for a given scenario, and the sensor mast can even be placed on one of two robot bases, each with different motion capabilities. The software architecture of our robot is also designed to be as modular as possible, to allow for hardware and configuration changes. Two focus

  10. Cooperative Three-Robot System for Traversing Steep Slopes

    Science.gov (United States)

    Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

    2009-01-01

    Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

  11. Criteria for successful multiprofessional cooperation in palliative care teams.

    Science.gov (United States)

    Jünger, S; Pestinger, M; Elsner, F; Krumm, N; Radbruch, L

    2007-06-01

    Team work is considered a central component of palliative care. Within this comparatively young field of medicine, the emergence of new institutions (eg, palliative care units) highlights the challenge of establishing a completely new team. This study focuses on the factors, which enhance both the success and outcome criteria of good team work from the perception of team members in a palliative care unit. The palliative care team at the University Hospital of Aachen (n = 19) was interviewed 1 year after the unit's startup by the means of semistructured interviews. Interview texts were analysed using qualitative content analysis. Factors crucial to cooperation in the team members' views were close communication, team philosophy, good interpersonal relationships, high team commitment, autonomy and the ability to deal with death and dying. Moreover, close communication was by far the most frequently mentioned criteria for cooperation. Team performance, good coordination of workflow and mutual trust underpin the evaluation of efficient team work. Inefficient team work is associated with the absence of clear goals, tasks and role delegation, as well as a lack of team commitment. In a new team, close communication is particularly important for staff as they reorientate themselves to the dynamics of a new peer group. The results confirm the overwhelming importance of clarity, commitment and close, positive exchange among team members for successful team work.

  12. Cooperative system and method using mobile robots for testing a cooperative search controller

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, Raymond H. (Albuquerque, NM); Harrington, John J. (Albuquerque, NM); Eskridge, Steven E. (Albuquerque, NM); Hurtado, John E. (College Station, TX)

    2002-01-01

    A test system for testing a controller provides a way to use large numbers of miniature mobile robots to test a cooperative search controller in a test area, where each mobile robot has a sensor, a communication device, a processor, and a memory. A method of using a test system provides a way for testing a cooperative search controller using multiple robots sharing information and communicating over a communication network.

  13. Team Learning: Through the Relational Dynamics of Co-operation and Rivalry in Team Communities

    Science.gov (United States)

    Lotz, Maja

    2010-01-01

    This paper explores the constructive links between cooperation, rivalry, and learning within the structure of team communities. Drawing upon social learning theory and qualitative data from case studies conducted in Danish team-based firms, the main purpose is to argue that both cooperation and rivalry are important triggers for mobilizing…

  14. Team Learning: Through the Relational Dynamics of Co-operation and Rivalry in Team Communities

    Science.gov (United States)

    Lotz, Maja

    2010-01-01

    This paper explores the constructive links between cooperation, rivalry, and learning within the structure of team communities. Drawing upon social learning theory and qualitative data from case studies conducted in Danish team-based firms, the main purpose is to argue that both cooperation and rivalry are important triggers for mobilizing…

  15. Mapping planetary caves with an autonomous, heterogeneous robot team

    Science.gov (United States)

    Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

    Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

  16. Towards building a team of intelligent robots

    Science.gov (United States)

    Varanasi, Murali R.; Mehrotra, R.

    1987-01-01

    Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects).

  17. Cooperative Search and Task Allocation Among Heterogeneous Teams of UAVs

    Institute of Scientific and Technical Information of China (English)

    SHEN Yan-hang; ZHOU Zhou

    2008-01-01

    A cooperative control method of multi-class UAV (unmanned air vehicle) team is investigated. During the mission, the UAVs perform search, classification, attack and battle damage assessment (BDA) tasks at various locations, which involves a combination of the team intelligence type of decision making combined with control, estimate and real-time trajectory optimization. The search-theoretic approach based on rate of return (ROR) maps is developed to get the cooperative search strategy. Templates are developed and views are combined to maximize the probability of correct target identification over various aspect angles. Monte Carle simulation runs for the scenario to evaluate the performance of the approach with various decision parameters, UAVs distributions and UAV team characteristics. Simulation results show that the cooperative behavior can significantly improve the operational effectiveness of UAV team, and the cooperative control allows for near optimal solution of the correlative behavior of a group of UAVs in battlefield.

  18. Scalable Task Assignment for Heterogeneous Multi-Robot Teams

    Directory of Open Access Journals (Sweden)

    Paula García

    2013-02-01

    Full Text Available This work deals with the development of a dynamic task assignment strategy for heterogeneous multi‐robot teams in typical real world scenarios. The strategy must be efficiently scalable to support problems of increasing complexity with minimum designer intervention. To this end, we have selected a very simple auction‐based strategy, which has been implemented and analysed in a multi‐robot cleaning problem that requires strong coordination and dynamic complex subtask organization. We will show that the selection of a simple auction strategy provides a linear computational cost increase with the number of robots that make up the team and allows the solving of highly complex assignment problems in dynamic conditions by means of a hierarchical sub‐auction policy. To coordinate and control the team, a layered behaviour‐based architecture has been applied that allows the reusing of the auction‐based strategy to achieve different coordination levels.

  19. IED Cleanup: A Cooperative Classroom Robotics Challenge--The Benefits and Execution of a Cooperative Classroom Robotics Challenge

    Science.gov (United States)

    Piotrowski, Mark; Kressly, Rich

    2009-01-01

    This article describes a cooperative classroom robotics challenge named "IED Cleanup". This classroom challenge was created to incorporate a humanitarian project with the use of a robotics design system in order to remove simulated IEDs (Improvised Explosive Devices) to a detonation zone within a specified amount of time. Throughout the activity,…

  20. Cooperative Localization and Tracking in Distributed Robot-Sensor Networks

    Institute of Scientific and Technical Information of China (English)

    ZHANG Fan; Guilherme S.Pereira; Vijay Kumar

    2005-01-01

    This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exteroceptive sensory information extracted from distributed vision systems. The sufficient and necessary conditions for team localization are proposed. A localization and object tracking approach based on statistical operators and graph searching algorithms is presented for a team of robots localized with heterogeneous sensors. The approach was implemented in an experimental platform consisting of car-like mobile robots equipped with omnidirectional video cameras and IEEE 802.11b wireless networking. The experimental results validate the approach.

  1. Cooperating with a palliative home-care team

    DEFF Research Database (Denmark)

    Goldschmidt, Dorthe; Groenvold, Mogens; Johnsen, Anna Thit

    2005-01-01

    BACKGROUND: Palliative home-care teams often cooperate with general practitioners (GPs) and district nurses. Our aim was to evaluate a palliative home-care team from the viewpoint of GPs and district nurses. METHODS: GPs and district nurses received questionnaires at the start of home-care and one...... month later. Questions focussed on benefits to patients, training issues for professionals and cooperation between the home-care team and the GP/ district nurse. A combination of closed- and open-ended questions was used. RESULTS: Response rate was 84% (467/553). Benefits to patients were experienced....... Dissatisfaction was caused mainly by lack of information from the home-care team to primary-care professionals. CONCLUSION: GPs and district nurses welcomed the palliative home-care team and most experienced benefits to patients. Strengthened communication, initiated by the home-care team would enhance...

  2. Cooperating with a palliative home-care team

    DEFF Research Database (Denmark)

    Goldschmidt, Dorthe; Groenvold, Mogens; Johnsen, Anna Thit

    2005-01-01

    BACKGROUND: Palliative home-care teams often cooperate with general practitioners (GPs) and district nurses. Our aim was to evaluate a palliative home-care team from the viewpoint of GPs and district nurses. METHODS: GPs and district nurses received questionnaires at the start of home-care and one...... month later. Questions focussed on benefits to patients, training issues for professionals and cooperation between the home-care team and the GP/ district nurse. A combination of closed- and open-ended questions was used. RESULTS: Response rate was 84% (467/553). Benefits to patients were experienced....... Dissatisfaction was caused mainly by lack of information from the home-care team to primary-care professionals. CONCLUSION: GPs and district nurses welcomed the palliative home-care team and most experienced benefits to patients. Strengthened communication, initiated by the home-care team would enhance...

  3. Cooperation of Humanoid Robots using Teleoperation for Transferring an Object

    Directory of Open Access Journals (Sweden)

    Ali Raza Jafri

    2008-11-01

    Full Text Available In this paper, a method is proposed for humanoid robots performing object transfering task in a teleoperated cooperative paradigm. The cooperative task is accomplished using simple communication among two humanoid robots and then switch between modes according to the situation. In case of object passing with two humanoid robots, mutual position shifts may occur while they are moving. Therefore, it is necessary to correct the position in a real-time manner.To control the arm and hand of the robot remotely we use master arm and hand while it carries and passes the object, the dynamic stability during the execution of walking is ensured by incorporating the ZMP criterion and the desired spacing between the robots is controlled by Leader follower type control .Object passing cooperation for two humanoid robots is based on computer control, wireless LAN, vision, cooperative handling control and text commands. The method is applied as key software of the system. The effectiveness of the proposed methodology for performing cooperatively real time tasks is discussed.

  4. Developing new behavior strategies of robot soccer team SjF TUKE Robotics

    Directory of Open Access Journals (Sweden)

    Mikuláš Hajduk

    2016-09-01

    Full Text Available There are too many types of robotic soccer approaches at present. SjF TUKE Robotics, who won robot soccer world tournament for year 2010 in category MiroSot, is a team with multiagent system approach. They have one main agent (master and five agent players, represented by robots. There is a point of view, in the article, for code programmer how to create new behavior strategies by creating a new code for master. There is a methodology how to prepare and create it following some rules.

  5. Autonomous Mobile Platform for Research in Cooperative Robotics

    Science.gov (United States)

    Daemi, Ali; Pena, Edward; Ferguson, Paul

    1998-01-01

    This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

  6. Cooperating with a palliative home-care team

    DEFF Research Database (Denmark)

    Goldschmidt, Dorthe; Groenvold, Mogens; Johnsen, Anna Thit;

    2005-01-01

    BACKGROUND: Palliative home-care teams often cooperate with general practitioners (GPs) and district nurses. Our aim was to evaluate a palliative home-care team from the viewpoint of GPs and district nurses. METHODS: GPs and district nurses received questionnaires at the start of home-care and one...... by 91 %, mainly due to improvement in symptom management, 'security', and accessibility of specialists in palliative care. After one month, 57% of the participants reported to have learnt aspects of palliative care, primarily symptom control, and 89% of them found cooperation satisfactory....... Dissatisfaction was caused mainly by lack of information from the home-care team to primary-care professionals. CONCLUSION: GPs and district nurses welcomed the palliative home-care team and most experienced benefits to patients. Strengthened communication, initiated by the home-care team would enhance...

  7. Delegating responsibilities in human-robot teams

    Science.gov (United States)

    DeKoven, Elyon A. M.; Bechtel, Bob; Zaientz, Jack; Lisse, Sean; Murphy, Anne K. G.

    2006-05-01

    Trends in combat technology research point to an increasing role for uninhabited vehicles and other robotic elements in modern warfare tactics. However, real-time control of multiple uninhabited battlefield robots and other semi-autonomous systems, in diverse fields of operation, is a difficult problem for modern warfighters that, while identified, has not been adequately addressed. Soar Technology is applying software agent technology to simplify demands on the human operator. Our goal is to build intelligent systems capable of finding the best balance of control between the human and autonomous system capabilities. We are developing an Intelligent Control Framework (ICF) from which to create agent-based systems that are able to dynamically delegate responsibilities across multiple robotic assets and the human operator. This paper describes proposed changes to our ICF architecture based on principles of human-machine teamwork derived from collaborative discourse theory. We outline the principles and the new architecture, and give examples of the benefits that can be realized from our approach.

  8. Human-robot Team Coordination That Considers Human Fatigue

    Directory of Open Access Journals (Sweden)

    Kai Zhang

    2014-06-01

    Full Text Available Many applications for robots require them to work alongside people as capable members of human-robot teams and to collaborate in order to perform tasks and achieve common goals. These tasks can induce strain on the human due to time constraints. Additionally, humans can become highly stressed due to fatigue, resulting in decreased efficiency. The contribution of this paper is in the introduction of a human fatigue model and the application of this model to a mixed team coordination framework in order to predict team performance given the constraints of human fatigue. The human fatigue model - namely a FAtigue Prediction (FAP model - is used to conduct numerical simulations that predict mixed team performances. Specifically, extensive simulations are performed to determine how human fatigue influences the choice of the number of agents for a given number of tasks. The novel mixed team coordination framework is a Stochastic Clustering Auction (SCA, which is based on a modification of the Swendsen-Wang method, called SW2 SCA. It enables complex and efficient movement between clusters by connecting tasks that appear to be synergistic and then stochastically reassigning these connected tasks. In SW2 SCA, the auctioneer makes stochastic movements with homogeneous or heterogeneous agents. The final discussion outlines a systematic procedure to predict the performance of human-robot systems with the FAP model in SCA.

  9. Ten Years of Cooperation Between Mobile Robots and Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jesus Capitán Fernández

    2015-06-01

    Full Text Available This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC at the University of Seville on the cooperation between mobile robots and sensor networks. The GRVC, led by Professor Anibal Ollero, has been working over the last ten years on techniques where robots and sensor networks exploit synergies and collaborate tightly, developing numerous research projects on the topic. In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots. Then, we describe our developed techniques and main results for these challenges. In particular, the paper focuses on autonomous self-deployment of sensor networks; cooperative localization and tracking; self-localization and mapping; and large-scale scenarios. Extensive experimental results and lessons learnt are also discussed in the paper.

  10. Ten Years of Cooperation Between Mobile Robots and Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jesus Capitán Fernández

    2015-06-01

    Full Text Available This paper presents an overview of the work carried out by the Group of Robotics, Vision and Control (GRVC at the University of Seville on the cooperation between mobile robots and sensor networks. The GRVC, led by Professor Anibal Ollero, has been working over the last ten years on techniques where robots and sensor networks exploit synergies and collaborate tightly, developing numerous research projects on the topic. In this paper, based on our research, we introduce what we consider some relevant challenges when combining sensor networks with mobile robots. Then, we describe our developed techniques and main results for these challenges. In particular, the paper focuses on autonomous self-deployment of sensor networks; cooperative localization and tracking; self-localization and mapping; and large-scale scenarios. Extensive experimental results and lessons learnt are also discussed in the paper.

  11. Concept and design of a cooperative robotic assistant surgery system

    OpenAIRE

    Castillo Cruces, Raúl Armando

    2008-01-01

    The modular interactive computer-assisted surgery (modiCAS) project, settled in the Center for Sensor System (ZESS) at the University of Siegen, in Germany, is engaged to develop an integral solution for different surgical problems by the combination of a navigation system and a robot arm with hands-on capabilities. The robotic system may be thought of as a smart surgical tool that extends surgeon's ability to treat patients, giving him/her surgical assistant by working in cooperative fashion...

  12. 76 FR 59160 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2011-09-23

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... Robotics Technology Consortium (``RTC'') has filed written notifications simultaneously with the Attorney... Robotics LLC, Pittsburgh, PA; Embry-Riddle Aeronautical University, Daytona Beach, FL; EMSolutions,...

  13. Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation

    Directory of Open Access Journals (Sweden)

    Concepción A. Monje

    2008-01-01

    Full Text Available The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.

  14. Human-Robot Teaming: From Space Robotics to Self-Driving Cars

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    In this talk, I describe how NASA Ames has been developing and testing robots for space exploration. In our research, we have focused on studying how human-robot teams can increase the performance, reduce the cost, and increase the success of space missions. A key tenet of our work is that humans and robots should support one another in order to compensate for limitations of manual control and autonomy. This principle has broad applicability beyond space exploration. Thus, I will conclude by discussing how we have worked with Nissan to apply our methods to self-driving cars, enabling humans to support autonomous vehicles operating in unpredictable and difficult situations.

  15. Extending the Evolutionary Robotics approach to flying machines: an application to MAV teams.

    Science.gov (United States)

    Ruini, Fabio; Cangelosi, Angelo

    2009-01-01

    The work presented in this article focuses on the use of embodied neural networks--developed through Evolutionary Robotics and Multi-Agent Systems methodologies--as autonomous distributed controllers for Micro-unmanned Aerial Vehicle (MAV) teams. The main aim of the research is to extend the range of domains that could be successfully tackled by the Evolutionary Robotics approach. The flying robots realm is an area that has not been yet thoroughly investigated by this discipline. This is due to the lack of an affordable and reliable robotic platform to use for carrying out experiments, and to the difficulty and the high computational load involved in experiments based upon a realistic software simulator for aircraft. We believe that the most recent improvements to the state of the art now permit the investigation of this domain. For demonstrating this point, two different evolutionary computer simulation models are presented in this article. The first model, which uses a simplified 2D test environment, has resulted in controllers evolved with the following capabilities: (1) navigation through unknown environments, (2) obstacle-avoidance, (3) tracking of a movable target, and (4) execution of cooperative and coordinated behaviors based on implicit communication strategies. In order to improve the robustness of these results and their potential use in real MAV teams, a more sophisticated 3D model is presented herein. The results obtained so far using the two models demonstrate the feasibility of the chosen approach for further research on the design of autonomous controllers for MAVs.

  16. Towards the Verification of Human-Robot Teams

    Science.gov (United States)

    Fisher, Michael; Pearce, Edward; Wooldridge, Mike; Sierhuis, Maarten; Visser, Willem; Bordini, Rafael H.

    2005-01-01

    Human-Agent collaboration is increasingly important. Not only do high-profile activities such as NASA missions to Mars intend to employ such teams, but our everyday activities involving interaction with computational devices falls into this category. In many of these scenarios, we are expected to trust that the agents will do what we expect and that the agents and humans will work together as expected. But how can we be sure? In this paper, we bring together previous work on the verification of multi-agent systems with work on the modelling of human-agent teamwork. Specifically, we target human-robot teamwork. This paper provides an outline of the way we are using formal verification techniques in order to analyse such collaborative activities. A particular application is the analysis of human-robot teams intended for use in future space exploration.

  17. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Directory of Open Access Journals (Sweden)

    Saúl Tovar-Arriaga

    2012-07-01

    Full Text Available In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms. The implemented control allows the robot to compensate for small patient movements.

  18. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Science.gov (United States)

    Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

    2012-01-01

    In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

  19. Cooperative Learning in a Macroeconomics Course: A Team Simulation.

    Science.gov (United States)

    Cohn, Cheryl L.

    1999-01-01

    Describes a classroom experiment in cooperative learning, in which economics students were grouped into learning teams and given a computer simulation package to learn the effects of fiscal/monetary policy on various economic variables. Results included thorough coverage of course material, greater student interest, better discussion, higher…

  20. [Telepsychiatry and cooperation between professionnals in a mobile team].

    Science.gov (United States)

    Boutbien, Élodie; Copin, Sabrina; Veyres-Broquin, Karine; Wendel, Yann

    2016-11-01

    Telepsychiatry in a mobile team uses advanced technology for the benefit of healthcare. It requires a high level of cooperation between the different players. In a nursing home, ilt provides patients with access to psyhiatric care despite the distance or the difficulties involved in travelling to an appointment. Copyright © 2016. Published by Elsevier Masson SAS.

  1. A Biologically Inspired Cooperative Multi-Robot Control Architecture

    Science.gov (United States)

    Howsman, Tom; Craft, Mike; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

    2002-01-01

    A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

  2. Designing a Social Environment for Human-Robot Cooperation.

    Science.gov (United States)

    Amram, Fred M.

    Noting that work is partly a social activity, and that workers' psychological and emotional needs influence their productivity, this paper explores avenues for improving human-robot cooperation and for enhancing worker satisfaction in the environment of flexible automation. The first section of the paper offers a brief overview of the…

  3. Acceleration Workspace of Cooperating Multi-Finger Robot Systems

    Institute of Scientific and Technical Information of China (English)

    Hyungwon Shim; Jihong Lee

    2008-01-01

    We present a mathematical method for acceleration workspace analysis of cooperating multi-finger robot systems using a model of point-contact with friction. A new unified formulation from dynamic equations of cooperating multi-finger robots is derived considering the force and acceleration relationships between the fingers and the object to be handled. From the dynamic equation, maximum translational and rotational acceleration bounds of an object are calculated under given constraints of contact conditions, configurations of fingers, and bounds on the torques of joint actuators for each finger. Here, the rotational acceleration bounds can be applied as an important manipulability index when the multi-finger robot grasps an object. To verify the proposed method, we used a set of case studies with a simple multi-finger mechanism system. The achievable acceleration boundary in task space can be obtained successfully with the proposed method and the acceleration boundary depends on the configurations of fingers.

  4. Experience in system design for human-robot teaming in urban search & rescue

    NARCIS (Netherlands)

    Kruijff, G.J.M.; Janíček, M.; Keshavdas, S.; Larochelle, B.; Zender, H.; Smets, N.J.J.M.; Mioch, T.; Neerincx, M.A.; Diggelen, J. van; Colas, F.; Liu, M.; Pomerleau, F.; Svoboda, T.; Petriček, T.; Pirri, F.; Giannni, M.; Papadakis, P.; Sinha, A.; Balmer, P.; Tomatis, N.; WOrst, R.; Linder, T.; Surmann, H.; Tretyakov, V.; Corrao, S.; Pratzler-Wanczura, S.; Sulk, M.

    2012-01-01

    The paper describes experience with applying a user-centric design methodology in developing systems for human-robot teaming in Urban Search & Rescue. A human-robot team consists of several robots (rovers/UGVs, microcopter/UAVs), several humans at an off-site command post (mission commander, UGV ope

  5. Experience in system design for human-robot teaming in urban search & rescue

    NARCIS (Netherlands)

    Kruijff, G.J.M.; Janíček, M.; Keshavdas, S.; Larochelle, B.; Zender, H.; Smets, N.J.J.M.; Mioch, T.; Neerincx, M.A.; Diggelen, J. van; Colas, F.; Liu, M.; Pomerleau, F.; Svoboda, T.; Petriček, T.; Pirri, F.; Giannni, M.; Papadakis, P.; Sinha, A.; Balmer, P.; Tomatis, N.; WOrst, R.; Linder, T.; Surmann, H.; Tretyakov, V.; Corrao, S.; Pratzler-Wanczura, S.; Sulk, M.

    2012-01-01

    The paper describes experience with applying a user-centric design methodology in developing systems for human-robot teaming in Urban Search & Rescue. A human-robot team consists of several robots (rovers/UGVs, microcopter/UAVs), several humans at an off-site command post (mission commander, UGV ope

  6. Experience in system design for human-robot teaming in urban search & rescue

    NARCIS (Netherlands)

    Kruijff, G.J.M.; Janíček, M.; Keshavdas, S.; Larochelle, B.; Zender, H.; Smets, N.J.J.M.; Mioch, T.; Neerincx, M.A.; Diggelen, J. van; Colas, F.; Liu, M.; Pomerleau, F.; Svoboda, T.; Petriček, T.; Pirri, F.; Giannni, M.; Papadakis, P.; Sinha, A.; Balmer, P.; Tomatis, N.; WOrst, R.; Linder, T.; Surmann, H.; Tretyakov, V.; Corrao, S.; Pratzler-Wanczura, S.; Sulk, M.

    2012-01-01

    The paper describes experience with applying a user-centric design methodology in developing systems for human-robot teaming in Urban Search & Rescue. A human-robot team consists of several robots (rovers/UGVs, microcopter/UAVs), several humans at an off-site command post (mission commander, UGV

  7. MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a "Dynamic Coordinator" strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.

  8. Robotic telepresence versus standardly supervised stroke alert team assessments.

    Science.gov (United States)

    O'Carroll, Cumara B; Hentz, Joseph G; Aguilar, Maria I; Demaerschalk, Bart M

    2015-03-01

    Telemedicine has created access to emergency stroke care for patients in all communities, regardless of geography. We hypothesized that there is no difference in speed of assessment between vascular neurologist (VN) robotic telepresence and standard VN-supervised stroke alert patients in a metropolitan primary stroke center. A retrospective stroke alert database was used to identify all robotic telepresence and standardly supervised stroke alert patient assessments at a primary stroke center emergency department from 2009 to 2012. The primary outcome measure was the duration of assessment from stroke alert activation to treatment or downgrade. The sample size was 196 subjects. The mean duration of time from stroke alert activation to initiation of intravenous (IV) thrombolytic treatment or downgrade was 8.6 min longer in the robotic group than in the standard group (p=0.03). Among the subgroup of acute ischemic stroke patients treated with IV thrombolysis, the mean duration of time from activation to treatment was 18 min longer in the robotic group than in the standard group (p=0.01). Safety outcomes including thrombolysis protocol violations (0% versus 1%), post-thrombolysis symptomatic intracranial hemorrhagic complications (3% versus 1%), and death during hospitalization (8% versus 6%) were low in the robotic group and not significantly different from that in the standard group. Standard VN-supervised acute stroke team assessments were swifter than those supervised by robotic telepresence. Safety outcomes of robotic telepresence-supervised stroke alerts were excellent, and this modality may be preferred in circumstances when a VN is not immediately available on-site.

  9. Safe Human-Robot Cooperation in an Industrial Environment

    Directory of Open Access Journals (Sweden)

    Nicola Pedrocchi

    2013-01-01

    Full Text Available The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human-robot hybrid systems could have a big economic benefit in small and medium sized production, even if this new paradigm introduces mandatory, challenging safety aspects. Among various requirements for collaborative workspaces, safety-assurance involves two different application layers; the algorithms enabling safe space-sharing between humans and robots and the enabling technologies allowing acquisition data from sensor fusion and environmental data analysing. This paper addresses both the problems: a collision avoidance strategy allowing on-line re-planning of robot motion and a safe network of unsafe devices as a suggested infrastructure for functional safety achievement.

  10. Safe Human-Robot Cooperation in an Industrial Environment

    Directory of Open Access Journals (Sweden)

    Nicola Pedrocchi

    2013-01-01

    Full Text Available The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human‐robot hybrid systems could have a big economic benefit in small and medium sized production, even if this new paradigm introduces mandatory, challenging safety aspects. Among various requirements for collaborative workspaces, safety‐assurance involves two different application layers; the algorithms enabling safe space‐sharing between humans and robots and the enabling technologies allowing acquisition data from sensor fusion and environmental data analysing. This paper addresses both the problems: a collision avoidance strategy allowing on‐line re‐planning of robot motion and a safe network of unsafe devices as a suggested infrastructure for functional safety achievement.

  11. Robotics and nuclear power. Report by the Technology Transfer Robotics Task Team

    Energy Technology Data Exchange (ETDEWEB)

    1985-06-01

    A task team was formed at the request of the Department of Energy to evaluate and assess technology development needed for advanced robotics in the nuclear industry. The mission of these technologies is to provide the nuclear industry with the support for the application of advanced robotics to reduce nuclear power generating costs and enhance the safety of the personnel in the industry. The investigation included robotic and teleoperated systems. A robotic system is defined as a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. A teleoperated system includes an operator who remotely controls the system by direct viewing or through a vision system.

  12. Addressing dysfunctional relations among healthcare teams: improving team cooperation through applied organizational theories.

    Science.gov (United States)

    Horwitz, Sujin K; Horwitz, Irwin B; Barshes, Neal R

    2011-01-01

    Previous research has demonstrated that communication failure and interpersonal conflicts are significant impediments among health-care teams to assess complex information and engage in the meaningful collaboration necessary for optimizing patient care. Despite the prolific research on the role of effective teamwork in accomplishing complex tasks, such findings have been traditionally applied to business organizations and not medical contexts. This chapter, therefore, reviews and applies four theories from the fields of organizational behavior (OB) and organization development (OD) as potential means for improving team interaction in health-care contexts. This study is unique in its approach as it addresses the long-standing problems that exist in team communication and cooperation in health-care teams by applying well-established theories from the organizational literature. The utilization and application of the theoretical constructs discussed in this work offer valuable means by which the efficacy of team work can be greatly improved in health-care organizations.

  13. Building the Cooperative Teaching Mode of “Team Teaching”

    Directory of Open Access Journals (Sweden)

    Guan Huisheng

    2013-12-01

    Full Text Available Considering the limitation of higher education teaching mode of “only the teacher’s words count”, we build the cooperative teaching mode of “ team teaching” which is humanism-based, student-based and learning-centered. It emphasizes “challenge and cooperation” between teachers and students as well as promotes communication and interaction during the teaching process to ensure open teaching and students’ participation. Compared with the traditional teaching mode, the cooperative teaching mode of “team teaching” highlights its innovative value of teaching and provides a feasible framework during the process of pre-class preparation, teaching guidance, student-teacher debate and conclusion and further study.

  14. Multidisciplinary Cooperation in Crisis Management Teams: a Tool to Improve Team Situation Awareness

    NARCIS (Netherlands)

    Koning, L. de; Kuijt-Evers, L.; Theunissen, N.; Rijk, R. van; Huis in 't Veld, M.

    2011-01-01

    When a crisis occurs, people from different organizations, on different hierarchical levels have to deal with unexpected situations that require coordinated effort. The goal of this research is to improve multidisciplinary cooperation for crisis management teams. We developed a tool, the Multi-mono

  15. Multidisciplinary Cooperation in Crisis Management Teams: a Tool to Improve Team Situation Awareness

    NARCIS (Netherlands)

    Koning, L. de; Kuijt-Evers, L.; Theunissen, N.; Rijk, R. van; Huis in 't Veld, M.

    2011-01-01

    When a crisis occurs, people from different organizations, on different hierarchical levels have to deal with unexpected situations that require coordinated effort. The goal of this research is to improve multidisciplinary cooperation for crisis management teams. We developed a tool, the Multi-mono

  16. Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1

    OpenAIRE

    Lee, Jihong; Jo, Kyounghwan; Jang, Choulsoo

    2007-01-01

    International audience; This paper presents a new method of cooperative localization for multiple robots utilizing correlation between GPS errors of common mode in shared workspace. Assuming that GPS data of individual robot are correlated strongly as the distance between robots are close, we utilize the differential position data between the robots to refine robot's position data. Under artificial environment for simulation with imposed model error to robot motion and GPS sensor data error, ...

  17. 78 FR 13896 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2013-03-01

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics...; Humanistic Robotics, Inc., Philadelphia, PA; Polaris Sales, Inc., Medina, MN; TDC Acquisition Holdings,...

  18. 79 FR 24450 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2014-04-30

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics... Robotics Foundation, Inc., Mountain View, CA; Sikorsky Aircraft Corporation, Stratford, CT; and...

  19. 75 FR 54914 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2010-09-09

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics... Robotics Inc., Pittsburgh, PA; Energetics Technology Center, Inc., La Plata, MD; Expertise Applications...

  20. 74 FR 62599 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2009-11-30

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics... are: 5D Robotics, Inc., Boise, ID; Adaptive Materials, Inc., Ann Arbor, MI; Advanced...

  1. 77 FR 34067 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2012-06-08

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics... National Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et seq. (``the Act''), Robotics..., Inc., Burke, VA; Lithos Robotics Corporation, Amherst, NY; Mechatron Inc., Somerville, MA;...

  2. [Infection control team (ICT) in cooperation with microbiology laboratories].

    Science.gov (United States)

    Okazaki, Mitsuhiro

    2012-10-01

    Infection control as a medical safety measure is an important issue in all medical facilities. In order to tackle this measure, cooperation between the infection control team (ICT) and microbiological laboratory is indispensable. Multiple drug-resistant bacteria have shifted from Gram-positive bacteria to Gram-negative bacilli within the last ten years. There are also a variety of bacilli, complicating the examination method and test results further. Therefore, cooperation between the ICT and microbiological laboratory has become important to understand examination results and to use them. In order to maintain functional cooperation, explanatory and communicative ability between the microbiological laboratory and ICT is required every day. Such positive information exchange will develop into efficient and functional ICT activity.

  3. 'Shared-rhythm cooperation' in cooperative team meetings in acute psychiatric inpatient care.

    Science.gov (United States)

    Vuokila-Oikkonen, P; Janhonen, S; Vaisanen, L

    2004-04-01

    The cooperative team meeting is one of the most important interventions in psychiatric care. The purpose of this study was to describe the participation of patients and significant others in cooperative team meetings in terms of unspoken stories. The narrative approach focused on storytelling. The data consisted of videotaped cooperative team meetings (n = 11) in two acute closed psychiatric wards. The QRS NVivo computer program and the Holistic Content Reading method were used. During the process of analysis, the spoken and unspoken stories were analysed at the same time. According to the results, while there was some evident shared-rhythm cooperation (the topics of discussion were shared and the participants had eye contact), there were many instances where the interaction was controlled and defined by health care professionals. This lack of shared rhythm in cooperation, as defined in terms of storytelling, was manifested as monologue and the following practices: the health care professionals controlled the storytelling by sticking to their opinions, by giving the floor or by pointing with a finger and visually scanning the participants, by interrupting the speaker or by allowing the other experts to sit passively. Implications for mental health nursing practice are discussed.

  4. Comparison of Localization Methods for a Robot Soccer Team

    Directory of Open Access Journals (Sweden)

    H. Levent Akın

    2008-11-01

    Full Text Available In this work, several localization algorithms that are designed and implemented for Cerberus'05 Robot Soccer Team are analyzed and compared. These algorithms are used for global localization of autonomous mobile agents in the robotic soccer domain, to overcome the uncertainty in the sensors, environment and the motion model. The algorithms are Reverse Monte Carlo Localization (R-MCL, Simple Localization (S-Loc and Sensor Resetting Localization (SRL. R-MCL is a hybrid method based on both Markov Localization (ML and Monte Carlo Localization (MCL where the ML module finds the region where the robot should be and MCL predicts the geometrical location with high precision by selecting samples in this region. S-Loc is another localization method where just one sample per percept is drawn, for global localization. Within this method another novel method My Environment (ME is designed to hold the history and overcome the lack of information due to the drastically decrease in the number of samples in S-Loc. ME together with S-Loc is used in the Technical Challenges in Robocup 2005 and play an important role in ranking the First Place in the Challenges. In this work, these methods together with SRL, which is a widely used successful localization algorithm, are tested with both offline and real-time tests. First they are tested on a challenging data set that is used by many researches and compared in terms of error rate against different levels of noise, and sparsity. Besides time required recovering from kidnapping and speed of the methods are tested and compared. Then their performances are tested with real-time tests with scenarios like the ones in the Technical Challenges in ROBOCUP. The main aim is to find the best method which is very robust and fast and requires less computational power and memory compared to similar approaches and is accurate enough for high level decision making which is vital for robot soccer.

  5. Ontological Reasoning for Human-Robot Teaming in Search and Rescue Missions

    NARCIS (Netherlands)

    Bagosi, T.; Hindriks, k.V.; Neerincx, M.A.

    2016-01-01

    In search and rescue missions robots are used to help rescue workers in exploring the disaster site. Our research focuses on how multiple robots and rescuers act as a team, and build up situation awareness. We propose a multi-agent system where each agent supports one member, either human or robot.

  6. Evolutionary Fuzzy Control and Navigation for Two Wheeled Robots Cooperatively Carrying an Object in Unknown Environments.

    Science.gov (United States)

    Juang, Chia-Feng; Lai, Min-Ge; Zeng, Wan-Ting

    2015-09-01

    This paper presents a method that allows two wheeled, mobile robots to navigate unknown environments while cooperatively carrying an object. In the navigation method, a leader robot and a follower robot cooperatively perform either obstacle boundary following (OBF) or target seeking (TS) to reach a destination. The two robots are controlled by fuzzy controllers (FC) whose rules are learned through an adaptive fusion of continuous ant colony optimization and particle swarm optimization (AF-CACPSO), which avoids the time-consuming task of manually designing the controllers. The AF-CACPSO-based evolutionary fuzzy control approach is first applied to the control of a single robot to perform OBF. The learning approach is then applied to achieve cooperative OBF with two robots, where an auxiliary FC designed with the AF-CACPSO is used to control the follower robot. For cooperative TS, a rule for coordination of the two robots is developed. To navigate cooperatively, a cooperative behavior supervisor is introduced to select between cooperative OBF and cooperative TS. The performance of the AF-CACPSO is verified through comparisons with various population-based optimization algorithms for the OBF learning problem. Simulations and experiments verify the effectiveness of the approach for cooperative navigation of two robots.

  7. CMUNITED-97: RoboCup-97 Small-Robot World Champion Team

    OpenAIRE

    Veloso, Manuela M.; Stone, Peter; Han, Kwun

    1998-01-01

    Robotic soccer is a challenging research domain that involves multiple agents that need to collaborate in an adversarial environment to achieve specific objectives. In this article, we describe CMUNITED, the team of small robotic agents that we developed to enter the RoboCup-97 competition. We designed and built the robotic agents, devised the appropriate vision algorithm, and developed and implemented algorithms for strategic collaboration between the robots in an uncertain and dynamic envir...

  8. Virtual Commissioning of an Assembly Cell with Cooperating Robots

    Directory of Open Access Journals (Sweden)

    S. Makris

    2012-01-01

    Full Text Available The Virtual Commissioning (VC technology is the latest trend in automotive assembly which, among other benefits, promises a more efficient handling of the complexity in assembly systems, a great reduction in the system’s ramp-up time, and a resulting shortening of the product’s time to market. This paper presents the application of VC techniques to the case of an industrial robotic cell, involving cooperating robots. The complete workflow of the virtual validation of the cell is presented, and the implementation requirements are discussed. Based on the findings, the outlook and challenges for the wide-range adoption of VC technologies in large-scale assembly systems are provided.

  9. CoMRoS: Cooperative mobile robots Stuttgart

    Energy Technology Data Exchange (ETDEWEB)

    Braeunl, T.; Kalbacher, M.; Levi, P.; Mamier, G. [Universitaet Stuttgart (Germany)

    1996-12-31

    Project CoMRoS has the goal to develop intelligent cooperating mobile robots. Several different vehicles are to solve a single task autonomously by exchanging plans without a central control. We use {open_quotes}Robuter II{close_quotes} vehicles from Robosoft France, adapted to our needs. The standard vehicle has very little local intelligence (VME bus system) and is controlled remotely by wireless Ethernet for sending steering commands and receiving sonar sensor data. A wireless video link is used to transmit camera images. Data exchange between vehicles is then performed among the corresponding workstations. The remote control is basically used to simplify testing and debugging of robot programs. However, each vehicle can also be driven completely autonomous by using a laptop PC.

  10. Human-Robot Teams for Unknown and Uncertain Environments

    Science.gov (United States)

    Fong, Terry

    2015-01-01

    Man-robot interaction is the study of interactions between humans and robots. It is often referred as HRI by researchers. Human-robot interaction is a multidisciplinary field with contributions from human-computer interaction, artificial intelligence.

  11. A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing

    Science.gov (United States)

    Martin, Adrian

    As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility. Toward these ends the Control ad libitum philosophy is proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms. A control system for exploration and mapping, search and deploy, and foraging was developed to evaluate the architecture in three sets of hardware-in-the-loop experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: a) dynamically form the control system, b) dynamically form the robot team, c) dynamically form the processing network, and d) handle heterogeneous teams. Secondly, the real-time performance of the distributed algorithms was tested, and proved effective for the moderate sized systems tested. Furthermore, the distributed Just-in-time Cooperative Simultaneous Localization and Mapping (JC-SLAM) algorithm demonstrated accuracy equal to or better than traditional approaches in resource starved scenarios, while reducing exploration time significantly. The JC-SLAM strategies are also suitable for integration into many existing particle filter SLAM approaches, complementing their unique optimizations. Thirdly, the control system was subjected to concurrent software and hardware failures in a series of increasingly complex experiments. Even with unrealistically high rates of failure the control system was able to

  12. Ranking Features on Psychological Dynamics of Cooperative Team Work through Bayesian Networks

    OpenAIRE

    Pilar Fuster-Parra; Alex García-Mas; Jaume Cantallops; F. Javier Ponseti; Yuhua Luo

    2016-01-01

    The aim of this study is to rank some features that characterize the psychological dynamics of cooperative team work in order to determine priorities for interventions and formation: leading positive feedback, cooperative manager and collaborative manager features. From a dataset of 20 cooperative sport teams (403 soccer players), the characteristics of the prototypical sports teams are studied using an average Bayesian network (BN) and two special types of BNs, the Bayesian classifiers: naiv...

  13. 76 FR 79218 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2011-12-21

    ... Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics...''), Robotics Technology Consortium, Inc. (``RTC'') has filed written notifications simultaneously with the...; Jaybridge Robotics, Cambridge, MA; Klett Consulting Group, Inc., Virginia Beach, VA; and Next Wave...

  14. Development and implementation of algorithms in a population of cooperative autonomous mobile robots

    CSIR Research Space (South Africa)

    Namoshe, M

    2007-10-01

    Full Text Available An increase in the number of mobile robot users has lead to the design and implementation of cooperative autonomous mobile robots. Autonomous robots require the ability to build maps of an unknown environment while simultaneously using these maps...

  15. A multimodal interface for real-time soldier-robot teaming

    Science.gov (United States)

    Barber, Daniel J.; Howard, Thomas M.; Walter, Matthew R.

    2016-05-01

    Recent research and advances in robotics have led to the development of novel platforms leveraging new sensing capabilities for semantic navigation. As these systems becoming increasingly more robust, they support highly complex commands beyond direct teleoperation and waypoint finding facilitating a transition away from robots as tools to robots as teammates. Supporting future Soldier-Robot teaming requires communication capabilities on par with human-human teams for successful integration of robots. Therefore, as robots increase in functionality, it is equally important that the interface between the Soldier and robot advances as well. Multimodal communication (MMC) enables human-robot teaming through redundancy and levels of communications more robust than single mode interaction. Commercial-off-the-shelf (COTS) technologies released in recent years for smart-phones and gaming provide tools for the creation of portable interfaces incorporating MMC through the use of speech, gestures, and visual displays. However, for multimodal interfaces to be successfully used in the military domain, they must be able to classify speech, gestures, and process natural language in real-time with high accuracy. For the present study, a prototype multimodal interface supporting real-time interactions with an autonomous robot was developed. This device integrated COTS Automated Speech Recognition (ASR), a custom gesture recognition glove, and natural language understanding on a tablet. This paper presents performance results (e.g. response times, accuracy) of the integrated device when commanding an autonomous robot to perform reconnaissance and surveillance activities in an unknown outdoor environment.

  16. Hierarchical method of task assignment for multiple cooperating UAV teams

    Institute of Scientific and Technical Information of China (English)

    Xiaoxuan Hu; Huawei Ma; Qingsong Ye; He Luo

    2015-01-01

    The problem of task assignment for multiple cooperat-ing unmanned aerial vehicle (UAV) teams is considered. Multiple UAVs forming several smal teams are needed to perform attack tasks on a set of predetermined ground targets. A hierarchical task assignment method is presented to address the problem. It breaks the original problem down to three levels of sub-problems: tar-get clustering, cluster al ocation and target assignment. The first two sub-problems are central y solved by using clustering algo-rithms and integer linear programming, respectively, and the third sub-problem is solved in a distributed and paral el manner, using a mixed integer linear programming model and an improved ant colony algorithm. The proposed hierarchical method can reduce the computational complexity of the task assignment problem con-siderably, especial y when the number of tasks or the number of UAVs is large. Experimental results show that this method is feasi-ble and more efficient than non-hierarchical methods.

  17. Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

    Directory of Open Access Journals (Sweden)

    Yahui Gan

    2012-09-01

    Full Text Available A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here. In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

  18. Negotiation of Target Points for Teams of Heterogeneous Robots: an Application to Exploration

    OpenAIRE

    Rossi,Claudio; Aldama Perez, Leyre; Barrientos Cruz, Antonio; Valero, Alberto; Cruz, Carlos

    2009-01-01

    In this paper, we present an application to Search and Rescue of a task negotiation protocol for teams of heterogeneous robots. Self-organization through autonomous negotiations allow the robots to assign themselves a number of target observation points decided by the operator, who is relieved from deciding the optimal assignment. The operator can then focus on monitoring the mission and deciding next actions. The protocol has been tested on both computer simulations and real robots.

  19. Team Cooperation in a Network of Multi-Vehicle Unmanned Systems Synthesis of Consensus Algorithms

    CERN Document Server

    Semsar-Kazerooni, Elham

    2013-01-01

    Team Cooperation in a Network of Multi-Vehicle Unmanned Systems develops a framework for modeling and control of a network of multi-agent unmanned systems in a cooperative manner and with consideration of non-ideal and practical considerations. The main focus of this book is the development of “synthesis-based” algorithms rather than on conventional “analysis-based” approaches to the team cooperation, specifically the team consensus problems. The authors provide a set of modified “design-based” consensus algorithms whose optimality is verified through introduction of performance indices. This book also: Provides synthesis-based methodology for team cooperation Introduces a consensus-protocol optimized performance index  Offers comparisons for use of proper indices in measuring team performance Analyzes and predicts  performance of  previously designed consensus algorithms Analyses and predicts team behavior in the presence of non-ideal considerations such as actuator anomalies and faults as wel...

  20. Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

    OpenAIRE

    Duschau-Wicke Alexander; Caprez Andrea; Riener Robert

    2010-01-01

    Abstract Background Manual body weight supported treadmill training and robot-aided treadmill training are frequently used techniques for the gait rehabilitation of individuals after stroke and spinal cord injury. Current evidence suggests that robot-aided gait training may be improved by making robotic behavior more patient-cooperative. In this study, we have investigated the immediate effects of patient-cooperative versus non-cooperative robot-aided gait training on individuals with incompl...

  1. Evaluation of parallel reduction strategies for fusion of sensory information from a robot team

    Science.gov (United States)

    Lyons, Damian M.; Leroy, Joseph

    2015-05-01

    The advantage of using a team of robots to search or to map an area is that by navigating the robots to different parts of the area, searching or mapping can be completed more quickly. A crucial aspect of the problem is the combination, or fusion, of data from team members to generate an integrated model of the search/mapping area. In prior work we looked at the issue of removing mutual robots views from an integrated point cloud model built from laser and stereo sensors, leading to a cleaner and more accurate model. This paper addresses a further challenge: Even with mutual views removed, the stereo data from a team of robots can quickly swamp a WiFi connection. This paper proposes and evaluates a communication and fusion approach based on the parallel reduction operation, where data is combined in a series of steps of increasing subsets of the team. Eight different strategies for selecting the subsets are evaluated for bandwidth requirements using three robot missions, each carried out with teams of four Pioneer 3-AT robots. Our results indicate that selecting groups to combine based on similar pose but distant location yields the best results.

  2. Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans

    Science.gov (United States)

    Rahman, Md. Mozasser; Ikeura, Ryojun; Mizutani, Kazuki

    In the near future many aspects of our lives will be encompassed by tasks performed in cooperation with robots. The application of robots in home automation, agricultural production and medical operations etc. will be indispensable. As a result robots need to be made human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work imitating human characteristics. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the impedance characteristic of the human arm in a cooperative task is investigated. Then, this characteristic is implemented to control a robot in order to perform cooperative task with humans. A human followed the motion of an object, which is moved through desired trajectories. The motion is actuated by the linear motor of the one degree-of-freedom robot system. Trajectories used in the experiments of this method were minimum jerk (the rate of change of acceleration) trajectory, which was found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a simple second-order equation is used as models for the arm dynamics. In the model, we considered mass, stiffness and damping factor. Impedance parameter is calculated from the position and force data obtained from the experiments and based on the “Estimation of Parametric Model”. Investigated impedance characteristic of human arm is then implemented to control a robot, which performed cooperative task with human. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with human.

  3. Fusion of ranging data from robot teams operating in confined areas

    Science.gov (United States)

    Lyons, Damian M.; Shrestha, Karma; Liu, Tsung-Ming

    2013-05-01

    We address the problem of fusing laser ranging data from multiple mobile robots that are surveying an area as part of a robot search and rescue or area surveillance mission. We are specifically interested in the case where members of the robot team are working in close proximity to each other. The advantage of this teamwork is that it greatly speeds up the surveying process; the area can be quickly covered even when the robots use a random motion exploration approach. However, the disadvantage of the close proximity is that it is possible, and even likely, that the laser ranging data from one robot include many depth readings caused by another robot. We refer to this as mutual interference. Using a team of two Pioneer 3-AT robots with tilted SICK LMS-200 laser sensors, we evaluate several techniques for fusing the laser ranging information so as to eliminate the mutual interference. There is an extensive literature on the mapping and localization aspect of this problem. Recent work on mapping has begun to address dynamic or transient objects. Our problem differs from the dynamic map problem in that we look at one kind of transient map feature, other robots, and we know that we wish to completely eliminate the feature. We present and evaluate three different approaches to the map fusion problem: a robot-centric approach, based on estimating team member locations; a map-centric approach, based on inspecting local regions of the map, and a combination of both approaches. We show results for these approaches for several experiments for a two robot team operating in a confined indoor environment .

  4. Human-Robot Teaming in a Multi-Agent Space Assembly Task

    Science.gov (United States)

    Rehnmark, Fredrik; Currie, Nancy; Ambrose, Robert O.; Culbert, Christopher

    2004-01-01

    NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower. An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of humans with the survivability and physical capabilities of robots is proposed and illustrated by example. Such teams are useful for large-scale, complex missions requiring dispersed manipulation, locomotion and sensing capabilities. To study collaboration modalities within a multi-agent EVA team, a 1-g test is conducted with humans and robots working together in various supporting roles.

  5. Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

    Energy Technology Data Exchange (ETDEWEB)

    Mann, R.C.; Fujimura, K.; Unseren, M.A.

    1991-01-01

    One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.

  6. Real-time Cooperative Behavior for Tactical Mobile Robot Teams

    Science.gov (United States)

    2001-02-01

    evaluation techniques exist in the human-computer interaction ( HCI ) literature2, the availability of a fully working model of the system facilitated the...Considerations. Proceedings of the Sev- enth In ternational Conference on Human-Computer Interaction ( HCI International ‘97), p.1001-4 vol.2 (San... empowerment ,” Keynote Address pre- sented at the 1998 International Conference on Wearable Computing ICWC-98, Fairfax VA, May 1998. 153 Mann, S

  7. Collision Prevention Platform for a Dynamic Group of Asynchronous Cooperative Mobile Robots

    Directory of Open Access Journals (Sweden)

    Rami Yared

    2007-08-01

    Full Text Available This paper presents a fail-safe platform on which cooperative mobile robots rely for their motion. The platform consists of a collision prevention protocol for a dynamic group of cooperative mobile robots with asynchronous communications. The collision prevention protocol is timefree, in the sense that it never relies on physical time, which makes it extremely robust for timing uncertainty common in wireless networks. It guarantees that no two robots ever collide, regardless of the respective activities of the robots. The protocol is based on a fully distributed path reservation system. It assumes a mobile ad hoc network formed by the robots themselves, and takes advantage of the inherent locality of the problem in order to reduce communication. The protocol requires neither initial nor complete knowledge of the composition of the group. A performance analysis of the protocol provides insights for a proper dimensioning of system parameters in order to maximize the average effective speed of the robots.

  8. Self-Organization and Self-Coordination in Welding Automation with Collaborating Teams of Industrial Robots

    Directory of Open Access Journals (Sweden)

    Günther Starke

    2016-11-01

    Full Text Available In welding automation, growing interest can be recognized in applying teams of industrial robots to perform manufacturing processes through collaboration. Although robot teamwork can increase profitability and cost-effectiveness in production, the programming of the robots is still a problem. It is extremely time consuming and requires special expertise in synchronizing the activities of the robots to avoid any collision. Therefore, a research project has been initiated to solve those problems. This paper will present strategies, concepts, and research results in applying robot operating system (ROS and ROS-based solutions to overcome existing technical deficits through the integration of self-organization capabilities, autonomous path planning, and self-coordination of the robots’ work. The new approach should contribute to improving the application of robot teamwork and collaboration in the manufacturing sector at a higher level of flexibility and reduced need for human intervention.

  9. Modeling and Simulation for Exploring Human-Robot Team Interaction Requirements

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean; Bruemmer, David Jonathon; Davis, Midge Lee

    2001-12-01

    Small-sized and micro-robots will soon be available for deployment in large-scale forces. Consequently, the ability of a human operator to coordinate and interact with largescale robotic forces is of great interest. This paper describes the ways in which modeling and simulation have been used to explore new possibilities for human-robot interaction. The paper also discusses how these explorations have fed implementation of a unified set of command and control concepts for robotic force deployment. Modeling and simulation can play a major role in fielding robot teams in actual missions. While live testing is preferred, limitations in terms of technology, cost, and time often prohibit extensive experimentation with physical multi-robot systems. Simulation provides insight, focuses efforts, eliminates large areas of the possible solution space, and increases the quality of actual testing.

  10. Dynamic Task Allocation for Human-Robot Teams

    NARCIS (Netherlands)

    Giele, T.R.A.; Mioch, T.; Neerincx, M.A.; Meyer, J.J.C.

    2015-01-01

    Artificial agents, such as robots, are increasingly deployed for teamwork in dynamic, high-demand environments. This paper presents a framework, which applies context information to establish task (re)allocations that improve human-robot team’s performance. Based on the framework, a model for adapti

  11. Modelling of cooperating robotized systems with the use of object-based approach

    Science.gov (United States)

    Foit, K.; Gwiazda, A.; Banas, W.; Sekala, A.; Hryniewicz, P.

    2015-11-01

    Today's robotized manufacturing systems are characterized by high efficiency. The emphasis is placed mainly on the simultaneous work of machines. It could manifest in many ways, where the most spectacular one is the cooperation of several robots, during work on the same detail. What's more, recently a dual-arm robots are used that could mimic the manipulative skills of human hands. As a result, it is often hard to deal with the situation, when it is necessary not only to maintain sufficient precision, but also the coordination and proper sequence of movements of individual robots’ arms. The successful completion of this task depends on the individual robot control systems and their respective programmed, but also on the well-functioning communication between robot controllers. A major problem in case of cooperating robots is the possibility of collision between particular links of robots’ kinematic chains. This is not a simple case, because the manufacturers of robotic systems do not disclose the details of the control algorithms, then it is hard to determine such situation. Another problem with cooperation of robots is how to inform the other units about start or completion of part of the task, so that other robots can take further actions. This paper focuses on communication between cooperating robotic units, assuming that every robot is represented by object-based model. This problem requires developing a form of communication protocol that the objects can use for collecting the information about its environment. The approach presented in the paper is not limited to the robots and could be used in a wider range, for example during modelling of the complete workcell or production line.

  12. Research on image fusion of missile team based on multi-agent cooperative blackboard model

    Science.gov (United States)

    Sen, Guo; Munan, Li

    The target of cooperative engagement of missile teams is to furthest improve hit rate of target according to communication and cooperation among missiles. In this paper the problems of image fusion between missile teams in complex combat environment was analyzed, after which an muti-agent blackboard cooperative model was presented and a public information platform of missile team is built according to this model. Through these, the fusion of images taken from muti-sensor of missiles can be realized and the hit rate of attacking target will be improved. At last, an simulation experiment were performed, and the feasibility of the method is proved by simulation experiment.

  13. [Multiprofessional family-system training programme in psychiatry--effects on team cooperation and staff strain].

    Science.gov (United States)

    Zwack, Julika; Schweitzer, Jochen

    2008-01-01

    How does the interdisciplinary cooperation of psychiatric staff members change after a multiprofessional family systems training programme? Semi-structured interviews were conducted with 49 staff members. Quantitative questionnaires were used to assess burnout (Maslach Burnout Inventory, MBI) and team climate (Team-Klima-Inventar, TKI). The multiprofessional training intensifies interdisciplinary cooperation. It results in an increased appreciation of the nurses involved and in a redistribution of therapeutic tasks between nurses, psychologists and physicians. Staff burnout decreased during the research period, while task orientation and participative security within teams increased. The multiprofessional family systems training appears suitable to improve quality of patient care and interdisciplinary cooperation and to reduce staff burnout.

  14. Formulation and implementation of relational behaviours for multi-robot cooperative systems

    NARCIS (Netherlands)

    van der Vecht, B; Lima, P; Nardi, D; Riedmiller, M; Sammut, C; SantosVictor, J

    2005-01-01

    This paper introduces a general formulation of relational behaviours for cooperative real robots and an example of its implementation using the pass between soccer robots of the Middle-Sized League of RoboCup. The formulation is based on the Joint Commitment Theory and the pass implementation is sup

  15. Cooperation between humans and robots in fine assembly

    Science.gov (United States)

    Jalba, C. K.; Konold, P.; Rapp, I.; Mann, C.; Muminovic, A.

    2017-01-01

    The development of ever smaller components in manufacturing processes require handling, assembling and testing of miniature similar components. The human eye meets its optical limits with ongoing miniaturization of parts, due to the fact that it is not able to detect particles with a size smaller than 0.11 mm or register distances below 0.07 mm - like separating gaps. After several hours of labour, workers cannot accurately differentiate colour nuances as well as constant quality of work cannot be guaranteed. Assembly is usually done with tools, such as microscopes, magnifiers or digital measuring devices. Due to the enormous mental concentration, quickly a fatigue process sets in. This requires breaks or change of task and reduces productivity. Dealing with handling devices such as grippers, guide units and actuators for component assembling, requires a time consuming training process. Often productivity increase is first achieved after years of daily training. Miniaturizations are ubiquitously needed, for instance in the surgery. Very small add-on instruments must be provided. In measurement, e.g. it is a technological must and a competitive advantage, to determine required data with a small-as-possible, highest-possible-resolution sensor. Solution: The realization of a flexible universal workstation, using standard robotic systems and image processing devices in cooperation with humans, where workers are largely freed up from highly strenuous physical and fine motoric work, so that they can do productive work monitoring and adjusting the machine assisted production process.

  16. A Software Framework for Coordinating Human-Robot Teams Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots are expected to fulfill an important role in manned exploration operations. They can reduce the risk of crew EVA and improve crew productivity on routine...

  17. A Software Framework for Coordinating Human-Robot Teams Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots are expected to fulfill an important role in manned exploration operations. They will perform precursor missions to pre-position resources for manned...

  18. Cooperative outcome interdependence, task reflexivity, and team effectiveness: a motivated information processing perspective.

    Science.gov (United States)

    De Dreu, Carsten K W

    2007-05-01

    A motivated information processing perspective (C. K. W. De Dreu & P. J. D. Carnevale, 2003; see also V. B. Hinsz, R. S. Tindale, & D. A. Vollrath, 1997) was used to predict that perceived cooperative outcome interdependence interacts with team-level reflexivity to predict information sharing, learning, and team effectiveness. A cross-sectional field study involving management and cross-functional teams (N = 46) performing nonroutine, complex tasks corroborated predictions: The more team members perceived cooperative outcome interdependence, the better they shared information, the more they learned and the more effective they were, especially when task reflexivity was high. When task reflexivity was low, no significant relationship was found between cooperative outcome interdependence and team processes and performance. The author concludes that the motivated information processing perspective is valid outside the confines of the laboratory and can be extended toward teamwork in organizations. 2007 APA, all rights reserved

  19. COOPER (COupled OPEration Robot): control de una estructura articular RRR acoplada a un manipulador

    OpenAIRE

    Perea Fuentes, Iván; García Gómez, Gabriel Jesús; Jara Bravo, Carlos Alberto; Pomares Baeza, Jorge; Candelas Herías, Francisco Andrés; Torres Medina, Fernando

    2011-01-01

    Pendiente de publicación en las actas de las XXXII Jornadas de Automática, Sevilla, 7-9 septiembre 2011. Este artículo presenta el modelado, construcción y control de un robot articular tipo RRR, especialmente diseñado para ser acoplado al extremo de un robot antropomórfico PA-10 de Mitsubishi. A este robot articular de tres grados de libertad se le ha asignado como nombre el acrónimo COOPER (COupled OPEration Robot), y su principal finalidad es dotar al PA-10 de la capacidad de visualizac...

  20. Team science of nursing, engineering, statistics, and practitioner in the development of a robotic reflexology device.

    Science.gov (United States)

    Wyatt, Gwen; Sikorskii, Alla; Bush, Tamara Reid; Mukherjee, Ranjan

    2010-01-01

    The purpose of this article is to share the lessons learned in forming an interdisciplinary team that implements a team science approach to integrative medicine (IM) research. The disciplines of nursing, statistics, and engineering, along with consultants and a reflexology practitioner, formed this university-based team to conceptualize and develop a prototype robotic device for reflexology for breast cancer patients. The nurse investigator contributed the intervention background and access to the population; the statistician guided the team thinking on factors that needed to be controlled for; the engineers provided the expertise in device design and development; consultants facilitated the team's thinking in new directions; and the reflexology practitioner prescribed the protocol. We discuss the contributions and achievements of each discipline, as well as the challenges, and share the team experiences with the intent to help guide the formation of new IM teams that promote a conducive atmosphere for carrying out cutting-edge IM research and advancing the science.

  1. Control of a team of micro-robots for non-invasive medical applications

    OpenAIRE

    Perrard, Christophe; Andreff, Nicolas

    2011-01-01

    International audience; This paper deals with the control and the synchronisation of a team of micro-robots that performs a non-invasive surgical act into a human body. These micro-robots are very small sized (from ten to some hundred microns). A single unit embeds the minimum of computing power and memory (minimalist electronics) to run a very light program, such as a finite-state machine. The mass effect of the joined micro-robots will allow to achieve the mission through a satisfactory way...

  2. Automatic approach to stabilization and control for multi robot teams by multilayer network operator

    Directory of Open Access Journals (Sweden)

    Diveev Askhat

    2016-01-01

    Full Text Available The paper describes a novel methodology for synthesis a high-level control of autonomous multi robot teams. The approach is based on multilayer network operator method that belongs to a symbolic regression class. Synthesis is accomplished in three steps: stabilizing robots about some given position in a state space, finding optimal trajectories of robots’ motion as sets of stabilizing points and then approximating all the points of optimal trajectories by some multi-dimensional function of state variables. The feasibility and effectiveness of the proposed approach is verified on simulations of the task of control synthesis for three mobile robots parking in the constrained space.

  3. An Effective Division of Labor Between Human and Robotic Agents Performing a Cooperative Assembly Task

    Science.gov (United States)

    Rehnmark, Fredrik; Bluethmann, William; Rochlis, Jennifer; Huber, Eric; Ambrose, Robert

    2003-01-01

    NASA's Human Space Flight program depends heavily on spacewalks performed by human astronauts. These so-called extra-vehicular activities (EVAs) are risky, expensive and complex. Work is underway to develop a robotic astronaut's assistant that can help reduce human EVA time and workload by delivering human-like dexterous manipulation capabilities to any EVA worksite. An experiment is conducted to evaluate human-robot teaming strategies in the context of a simplified EVA assembly task in which Robonaut, a collaborative effort with the Defense Advanced Research Projects Agency (DARPA), an anthropomorphic robot works side-by-side with a human subject. Team performance is studied in an effort to identify the strengths and weaknesses of each teaming configuration and to recommend an appropriate division of labor. A shared control approach is developed to take advantage of the complementary strengths of the human teleoperator and robot, even in the presence of significant time delay.

  4. Are You Talking to Me? Dialogue Systems Supporting Mixed Teams of Humans and Robots

    Science.gov (United States)

    Dowding, John; Clancey, William J.; Graham, Jeffrey

    2006-01-01

    This position paper describes an approach to building spoken dialogue systems for environments containing multiple human speakers and hearers, and multiple robotic speakers and hearers. We address the issue, for robotic hearers, of whether the speech they hear is intended for them, or more likely to be intended for some other hearer. We will describe data collected during a series of experiments involving teams of multiple human and robots (and other software participants), and some preliminary results for distinguishing robot-directed speech from human-directed speech. The domain of these experiments is Mars-analogue planetary exploration. These Mars-analogue field studies involve two subjects in simulated planetary space suits doing geological exploration with the help of 1-2 robots, supporting software agents, a habitat communicator and links to a remote science team. The two subjects are performing a task (geological exploration) which requires them to speak with each other while also speaking with their assistants. The technique used here is to use a probabilistic context-free grammar language model in the speech recognizer that is trained on prior robot-directed speech. Intuitively, the recognizer will give higher confidence to an utterance if it is similar to utterances that have been directed to the robot in the past.

  5. Cooperative Language Learning: Increasing Opportunities for Learning in Teams

    Science.gov (United States)

    Wichadee, Saovapa; Orawiwatnakul, Wiwat

    2012-01-01

    This paper conceptualizes cooperative language learning, group instruction which is under the learner-centered approach where the groups are formed in such a way that each member performs his or her task to achieve the goal. Previous research indicates that cooperative language learning doesn't only improve learners' language skills, but also…

  6. Zooming in on the Partnership of a Successful Teaching Team: Examining Cooperation, Action and Recognition

    Science.gov (United States)

    Henning Loeb, Ingrid

    2016-01-01

    This article investigates the cooperation of a teaching team in Swedish upper secondary education over a period of five years. The data collection builds on field studies and partly on a collaborative research approach. Three areas of cooperation have been identified: collaboration among the staff; interactions between the staff and the students;…

  7. Cutthroat cooperation: the effects of team role decisions on adaptation to alternative reward structures

    NARCIS (Netherlands)

    Beersma, B.; Hollenbeck, J.R.; Conlon, D.E.; Humphrey, S.E.; Moon, H.; Ilgen, D.R.

    2009-01-01

    Structural Adaptation Theory proposes that it is more difficult for teams to change from competitive to cooperative reward conditions than it is for them to change in the opposite direction, and this has been labeled the cutthroat cooperation effect [Johnson, M. D., Hollenbeck, J. R., Ilgen, D. R.,

  8. Cutthroat cooperation: the effects of team role decisions on adaptation to alternative reward structures

    NARCIS (Netherlands)

    Beersma, B.; Hollenbeck, J.R.; Conlon, D.E.; Humphrey, S.E.; Moon, H.; Ilgen, D.R.

    2009-01-01

    Structural Adaptation Theory proposes that it is more difficult for teams to change from competitive to cooperative reward conditions than it is for them to change in the opposite direction, and this has been labeled the cutthroat cooperation effect [Johnson, M. D., Hollenbeck, J. R., Ilgen, D. R.,

  9. The damage assessment methodology in cooperation with smart sensors and inspection robots

    Science.gov (United States)

    Nitta, Yoshihiro; Ishida, Masami; Onai, Toshio; Watakabe, Morimasa; Nishitani, Akira; Matsui, Chisa

    2014-03-01

    This paper proposes a damage assessment methodology for the non-structural elements, especially the ceiling, in cooperation with the smart sensors and the inspection blimp robot with the Wi-Fi camera. The developed smart sensors use the infrared LEDs in sending the measured data to the inspection blimp robot. The inspection blimp robot integrated in the proposed system has a Wi-Fi camera and an infrared remote control receiver for receiving the data from the smart sensor. In the proposed methodology, the distributed smart sensors firstly detect the damage occurrence. Next, the inspection blimp robots can gather the data from the smart sensors, which transmit the measured data by using an infrared remote control receiver and LED signals. The inspection blimp robot also can inspect the damage location and captures the photographic image of the damage condition. The inspection blimp robot will be able to estimate the damage condition without any process of engineers' on-site-inspection involved. To demonstrate the effectiveness of the inspection blimp robot, the blimp robot is utilized to estimate the aging ceiling of a real structure. For demonstrating the feasibility or possibility of the proposed damage assessment methodology in cooperation with the smart sensors and the inspection blimp robot, the conceptual laboratory experiment is conducted. The proposed methodology will provide valuable information for the repair and maintenance decision making of a damaged structure.

  10. Students' Perceptions of Long-Functioning Cooperative Teams in Accelerated Adult Degree Programs

    Science.gov (United States)

    Favor, Judy

    2012-01-01

    This study examined 718 adult students' perceptions of long-functioning cooperative study teams in accelerated associate's, bachelor's, and master's business degree programs. Six factors were examined: attraction toward team, alignment of performance expectations, intrateam conflict, workload sharing, preference for teamwork, and impact on…

  11. Learning to Fly? First Experiences on Team Learning of Icaros Cooperative

    Science.gov (United States)

    Juvonen, Pasi

    2013-01-01

    Icaros is an information technology (IT) cooperative that was originally owned by 11 IT degree programme students of Saimaa University of Applied Sciences. This article describes experiences and challenges of team building of these students who are called "teampreneurs" during their first year as team entrepreneurs. The findings provided…

  12. Cooperation, Coordination, and Trust in Virtual Teams: Insights from Virtual Games

    Science.gov (United States)

    Korsgaard, M. Audrey; Picot, Arnold; Wigand, Rolf T.; Welpe, Isabelle M.; Assmann, Jakob J.

    This chapter considers fundamental concepts of effective virtual teams, illustrated by research on Travian, a massively multiplayer online strategy game wherein players seek to build empires. Team inputs are the resources that enable individuals to work interdependently toward a common goal, including individual and collective capabilities, shared knowledge structures, and leadership style. Team processes, notably coordination and cooperation, transform team inputs to desired collective outcomes. Because the members of virtual teams are geographically dispersed, relying on information and communication technology, three theories are especially relevant for understanding how they can function effectively: social presence theory, media richness theory, and media synchronicity theory. Research in settings like Travian can inform our understanding of structures, processes, and performance of virtual teams. Such research could provide valuable insight into the emergence and persistence of trust and cooperation, as well as the impact of different communication media for coordination and information management in virtual organizations.

  13. A Multiple Mobile Behavior-based Omni-direction Micro Robots System for Object Micromanipulation with Dynamic Cooperation

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Object micromanipulation has become an issue of primary importance industry and biomedicine.Since human manual capabilities are restricted to certain tolerances.A multi-micro-robot system for micromanipulation is described, which incorporates a dynamic cooperation strategy.A control structure of the multiple micro robots system was proposed that combine the advantages of both center control and distribute control.The dynamic cooperation strategy to the proposed multiple micro robots system handling an object in cooperation is applied.Experimental results illustrate the validity of the proposed robot system with dynamic cooperation for micromanipulation.

  14. Cooperation of mobile robots for accident scene inspection

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, R.H.; Harrington, J.

    1992-11-01

    A telerobotic system demonstration was developed for the Department of Energy`s Accident Response group to highlight the applications of telerobotic vehicles to accident site inspection. The proof-of- principle system employs two mobile robots, Dixie and RAYBOT, to inspect a simulated accident site. Both robots are controlled serially from a single driving station, allowing an operator to take advantage of having multiple robots at the scene. The telerobotic system is described and some of the advantages of having more than one robot present are discussed. Future plans for the system are also presented.

  15. Cooperation of mobile robots for accident scene inspection

    Energy Technology Data Exchange (ETDEWEB)

    Byrne, R.H.; Harrington, J.

    1992-01-01

    A telerobotic system demonstration was developed for the Department of Energy's Accident Response group to highlight the applications of telerobotic vehicles to accident site inspection. The proof-of- principle system employs two mobile robots, Dixie and RAYBOT, to inspect a simulated accident site. Both robots are controlled serially from a single driving station, allowing an operator to take advantage of having multiple robots at the scene. The telerobotic system is described and some of the advantages of having more than one robot present are discussed. Future plans for the system are also presented.

  16. Development of an excretion care support robot with human cooperative characteristics.

    Science.gov (United States)

    Yina Wang; Shuoyu Wang

    2015-01-01

    To support care giving in an aging society with a shrinking population, various life support robots are being developed. In the authors' laboratory, an excretion care support robot (ECSR) with human cooperative characteristic has been developed to relieve the burden of caregivers and improve the quality of life for bedridden persons. This robot consists of a portable toilet with storage tank and a mobile robot which can run autonomously to conduct the cooperative work with others. Our research is focused on how to improve the motion accuracy and how the robot can cooperate with users. In this paper, to enable the ECSR could precisely move in the indoor environment, a proper controller is proposed considering the center of gravity shift and load changes. Then, to perform the cooperative task, two acceleration sensors are used to recognize the users' intended posture and position when moving from bed to toilet. The robot's target angle and position are determined by the user's posture. The effectiveness of the proposed method is verified by a pseudo excretion support experiment.

  17. Towards Human-Friendly Efficient Control of Multi-Robot Teams

    Science.gov (United States)

    Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

    2013-01-01

    This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

  18. Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team.

    Science.gov (United States)

    Deusdado, Pedro; Guedes, Magno; Silva, André; Marques, Francisco; Pinto, Eduardo; Rodrigues, Paulo; Lourenço, André; Mendonça, Ricardo; Santana, Pedro; Corisco, José; Almeida, Susana Marta; Portugal, Luís; Caldeira, Raquel; Barata, José; Flores, Luis

    2016-09-09

    This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus' estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling.

  19. Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team

    Directory of Open Access Journals (Sweden)

    Pedro Deusdado

    2016-09-01

    Full Text Available This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional human-based sampling.

  20. Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team

    Science.gov (United States)

    Deusdado, Pedro; Guedes, Magno; Silva, André; Marques, Francisco; Pinto, Eduardo; Rodrigues, Paulo; Lourenço, André; Mendonça, Ricardo; Santana, Pedro; Corisco, José; Almeida, Susana Marta; Portugal, Luís; Caldeira, Raquel; Barata, José; Flores, Luis

    2016-01-01

    This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling. PMID:27618060

  1. Dynamic team hierarchies in communication-limited multi-robot exploration

    NARCIS (Netherlands)

    de Hoog, J.; Cameron, S.; Visser, A.

    2010-01-01

    In the near future, groups of autonomous robots using wireless communication will be used for a wide variety of tasks. In many such applications, communication may be unreliable and communication ranges difficult to predict. While most current approaches to this problem strive to keep team members

  2. Dynamic team hierarchies in communication-limited multi-robot exploration

    NARCIS (Netherlands)

    de Hoog, J.; Cameron, S.; Visser, A.

    2010-01-01

    In the near future, groups of autonomous robots using wireless communication will be used for a wide variety of tasks. In many such applications, communication may be unreliable and communication ranges difficult to predict. While most current approaches to this problem strive to keep team members w

  3. Magician Simulator. A Realistic Simulator for Heterogenous Teams of Autonomous Robots

    Science.gov (United States)

    2011-01-18

    allocation problems effectively. A distributed auctioneering algorithm was applied to team coordination tasks . Vehicles wishing to participate in the...invest in application such as search and rescue , threat detection, patrolling, and counter- terrorism. The high level of complexities in such areas...localization, planning, coordination, formation, and task allocation . Deployment in the real world is the end-goal of robotics, but simulation

  4. Ant-like task allocation and recruitment in cooperative robots.

    Science.gov (United States)

    Krieger, M J; Billeter, J B; Keller, L

    2000-08-31

    One of the greatest challenges in robotics is to create machines that are able to interact with unpredictable environments in real time. A possible solution may be to use swarms of robots behaving in a self-organized manner, similar to workers in an ant colony. Efficient mechanisms of division of labour, in particular series-parallel operation and transfer of information among group members, are key components of the tremendous ecological success of ants. Here we show that the general principles regulating division of labour in ant colonies indeed allow the design of flexible, robust and effective robotic systems. Groups of robots using ant-inspired algorithms of decentralized control techniques foraged more efficiently and maintained higher levels of group energy than single robots. But the benefits of group living decreased in larger groups, most probably because of interference during foraging. Intriguingly, a similar relationship between group size and efficiency has been documented in social insects. Moreover, when food items were clustered, groups where robots could recruit other robots in an ant-like manner were more efficient than groups without information transfer, suggesting that group dynamics of swarms of robots may follow rules similar to those governing social insects.

  5. How To Incorporate Cooperative Learning Principles in the Classroom: It's More than Just Putting Students in Teams.

    Science.gov (United States)

    Siciliano, Julie I.

    2001-01-01

    Presents a technique for structuring cooperative learning that enables teams to work together meaningfully on in-class exercises. Includes incentives for students to assist one another, team role survey, skills and duties of team members, and a description of the exercises and the cooperative learning principles they are designed to develop. (SK)

  6. Cooperative effects enhance the transport properties of molecular spider teams

    CERN Document Server

    Rank, Matthias; Frey, Erwin

    2013-01-01

    Molecular spiders are synthetic molecular motors based on DNA nanotechnology. While natural molecular motors have evolved towards very high efficiency, it remains a major challenge to develop efficient designs for man-made molecular motors. Inspired by biological motor proteins like kinesin and myosin, molecular spiders comprise a body and several legs. The legs walk on a lattice that is coated with substrate which can be cleaved catalytically. We propose a novel molecular spider design in which n spiders form a team. Our theoretical considerations show that coupling several spiders together alters the dynamics of the resulting team significantly. Although spiders operate at a scale where diffusion is dominant, spider teams can be tuned to behave nearly ballistic, which results in fast and predictable motion. Based on the separation of time scales of substrate and product dwell times, we develop a theory which utilises equivalence classes to coarse-grain the micro-state space. In addition, we calculate diffus...

  7. Emergence of Cooperative Behavior based on Learning and Evolution in Collective Autonomous Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Jun, H.B.; Sim, K.B. [Chungang University, Seoul (Korea, Republic of)

    1998-12-01

    In this paper, we propose a behavior learning algorithm of the collective autonomous mobile robots based on the reinforcement learning and conditional evolution. The cooperative behavior is a high level phenomenon observed in the society of social animals and, recently the emergence of cooperative behavior in collective autonomous mobile robots becomes an interesting field in artificial life. In our system each robot with simple behavior strategies can adapt to its environment by means of the reinforcement learning. The internal reinforcement signal for the reinforcement learning is generated by fuzzy interference engine, and dynamic recurrent neural networks are used as an action generation module. We propose conditional evolution for the emergence of cooperative behavior. The evolutionary conditions are spatio-temporal limitations to the occurrence of genetic operations. We show the validity of the proposed learning and evolutionary algorithm through several computer simulations. (author). 22 refs., 9 figs.

  8. Ranking Features on Psychological Dynamics of Cooperative Team Work through Bayesian Networks

    Directory of Open Access Journals (Sweden)

    Pilar Fuster-Parra

    2016-05-01

    Full Text Available The aim of this study is to rank some features that characterize the psychological dynamics of cooperative team work in order to determine priorities for interventions and formation: leading positive feedback, cooperative manager and collaborative manager features. From a dataset of 20 cooperative sport teams (403 soccer players, the characteristics of the prototypical sports teams are studied using an average Bayesian network (BN and two special types of BNs, the Bayesian classifiers: naive Bayes (NB and tree augmented naive Bayes (TAN. BNs are selected as they are able to produce probability estimates rather than predictions. BN results show that the antecessors (the “top” features ranked are the team members’ expectations and their attraction to the social aspects of the task. The main node is formed by the cooperative behaviors, the consequences ranked at the BN bottom (ratified by the TAN trees and the instantiations made, the roles assigned to the members and their survival inside the same team. These results should help managers to determine contents and priorities when they have to face team-building actions.

  9. Cooperative co-evolution based distributed path planning of multiple mobile robots

    Institute of Scientific and Technical Information of China (English)

    WANG Mei; WU Tie-jun

    2005-01-01

    This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.

  10. SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots.

    Science.gov (United States)

    Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

    2017-03-11

    In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.

  11. Cooperative Tasks between Humans and Robots in Industrial Environments

    Directory of Open Access Journals (Sweden)

    J. A. Corrales

    2012-09-01

    Full Text Available Collaborative tasks between human operators and robotic manipulators can improve the performance and flexibility of industrial environments. Nevertheless, the safety of humans should always be guaranteed and the behaviour of the robots should be modified when a risk of collision may happen. This paper presents the research that the authors have performed in recent years in order to develop a human‐robot interaction system which guarantees human safety by precisely tracking the complete body of the human and by activating safety strategies when the distance between them is too small. This paper not only summarizes the techniques which have been implemented in order to develop this system, but it also shows its application in three real human‐robot interaction tasks.

  12. Self-organized control in cooperative robots using a pattern formation principle

    DEFF Research Database (Denmark)

    Starke, Jens; Ellsaesser, Carmen; Fukuda, Toshio

    2011-01-01

    Self-organized modular approaches proved in nature to be robust and optimal and are a promising strategy to control future concepts of flexible and modular manufacturing processes. We show how this can be applied to a model of flexible manufacturing based on time-dependent robot-target assignment...... problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission...

  13. Impact of Cooperative-Team Learning on Performance and Retention

    Science.gov (United States)

    1989-09-20

    investigated the impact of goal and resource interdependence on performance and attitudes of ROTC students . The first study involved teaching a class of...were 30 undergraduate university students in a ROTC military history course. The study lasted for four 50 minute class periods in which 20 minutes was...lecture, 20 minutes was groupwork , and 10 minutes was a quiz. Interaction within the cooperative groups was observed daily. An attitude question

  14. Cooperation and Consensus Seeking for Teams of Unmanned Air Vehicles

    Science.gov (United States)

    2007-06-30

    Proceedings of the American Control Conference , 2005. [2] B. A. White, A. Tsourdos, I. Ashokoraj, S. Subchan, and R...Li, R. W. Beard, T. W. McLain, and R. K. Mehra, "Forest fire monitoring using multiple small UAVs," in Proceedings of the American Control Conference , 2005...for cooperative boundary tracking," in Proceedings of the American Control Conference , 2005. [15] S. Susca, S.

  15. A hybrid fault detection and isolation strategy for a team of cooperating unmanned vehicles

    Science.gov (United States)

    Tousi, M. M.; Khorasani, K.

    2015-01-01

    In this paper, a hybrid fault detection and isolation (FDI) methodology is developed for a team of cooperating unmanned vehicles. The proposed approach takes advantage of the cooperative nature of the team to detect and isolate relatively low-severity actuator faults that are otherwise not detectable and isolable by the vehicles themselves individually. The approach is hybrid and consists of both low-level (agent/team level) and high-level [discrete-event systems (DES) level] FDI modules. The high-level FDI module is formulated in the DES supervisory control framework, whereas the low-level FDI module invokes classical FDI techniques. By properly integrating the two FDI modules, a larger class of faults can be detected and isolated as compared to the existing techniques in the literature that rely on each level separately. Simulation results for a team of five unmanned aerial vehicles are also presented to demonstrate the effectiveness and capabilities of our proposed methodology.

  16. Online Mapping and Perception Algorithms for Multi-robot Teams Operating in Urban Environments

    Science.gov (United States)

    2015-01-01

    best suited for near -term predictions. For use in a multi-robot exploration system , the performance around 0-6 seconds in the future is of most...and A. Voldsund, “A study of the noise-level in two infrared marker-based motion capture systems ,” pp. 258–263, 2012. [64] M. Li, “Camera calibration of... LIDAR and camera sensors. Multi-robot teams are ideal for deployment in large, real-world environments due to their ability to parallelize exploration

  17. Evolution of Cooperation in Evolutionary Robotics : the Tradeoff between Evolvability and Efficiency

    OpenAIRE

    Bernard, Arthur; André, Jean-Baptiste; Bredeche, Nicolas

    2015-01-01

    International audience; In this paper, we investigate the benefits and drawbacks of different approaches for solving a cooperative foraging task with two robots. We compare a classical clonal approach with an additional approach which favors the evolution of heterogeneous behaviors according to two defining criteria: the evolvability of the cooperative solution and the efficiency of the coordination behaviors evolved. Our results reveal a tradeoff between evolvability and efficiency: the clon...

  18. Incorporating a Robot into an Autism Therapy Team

    Science.gov (United States)

    2012-04-01

    language for ef- fective communication.2 Their spoken lan- guage might be characterized by repetitive or idiosyncratic speech , and the affective component...show more preference for objects over peo- ple than do their peers with other develop- mental disabilities.4 For this reason, speech and language...people. At the Brigham Young Uni- versity (BYU) Comprehensive Clinic, this team includes a primary therapist , a second- ary therapist , a therapy

  19. Design of an Action Selection Mechanism for Cooperative Soccer Robots Based on Fuzzy Decision Making Algorithm

    Directory of Open Access Journals (Sweden)

    S. Alireza Mohades Kasaei

    2010-04-01

    Full Text Available Robocup is an international competition for multi agent research and related subject like: Artificial intelligence, Image processing, machine learning, robot path planning, control, and
    obstacle avoidance. In a soccer robot game, the environment is highly competitive and dynamic. In order to work in the dynamically changing environment, the decision-making system of a soccer robot system should have the features of flexibility and real-time adaptation. In this paper we will
    focus on the Middle Size Soccer Robot league (MSL and new hierarchical hybrid fuzzy methods for decision making and action selection of a robot in Middle Size Soccer Robot league (MSL are presented. First, the behaviors of an agent are introduced, implemented and classified in two layers,
    the Low_Level_Behaviors and the High_Level_Behaviors. In the second layer, a two phase mechanism for decision making is introduced. In phase one, some useful methods are implemented which check the robot’s situation for performing required behaviors. In the next phase, the team strategy, team formation, robot’s role and the robot’s positioning system are introduced. A fuzzy logical approach is employed to recognize the team strategy and further more to tell the player the
    best position to move. We believe that a Dynamic role engine is necessary for a successful team. Dynamic role engine and formation control during offensive or defensive play, help us to prevent collision avoidance among own players when attacking the ball and obstacle avoidance of the opponents. At last, we comprised our implemented algorithm in the Robocup 2007 and 2008 and results showed the efficiency of the introduced methodology. The results are satisfactory which has already been successfully implemented in ADRO RoboCup team. This project is still in progress and some new interesting methods are described in the current report.

  20. A Remote Lab for Experiments with a Team of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Marco Casini

    2014-09-01

    Full Text Available In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

  1. A remote lab for experiments with a team of mobile robots.

    Science.gov (United States)

    Casini, Marco; Garulli, Andrea; Giannitrapani, Antonio; Vicino, Antonio

    2014-09-04

    In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

  2. Development of novel techiques for cooperative localization and mapping using mobile robots and their application in precise agriculture

    OpenAIRE

    Saso KOCESKI; Koceska, Natasa; Sazdovski, Vasko; Stojkovic, Natasa; Stojanova, Aleksandra; Vladimirov, Angel

    2015-01-01

    The application of robotics in agriculture is part of the recent trends of automating the tasks and the activities of people, which are characterized by increased physical effort. Recent robotics trends are also including automation of processes that can be harmful to human health. On the other hand, cooperation and coordination are modern concepts in the development of robotics systems which include information exchange between the robots regarding their condition and their measurements and ...

  3. Robotic automation for space: planetary surface exploration, terrain-adaptive mobility, and multirobot cooperative tasks

    Science.gov (United States)

    Schenker, Paul S.; Huntsberger, Terrance L.; Pirjanian, Paolo; Baumgartner, Eric T.; Aghazarian, Hrand; Trebi-Ollennu, Ashitey; Leger, Patrick C.; Cheng, Yang; Backes, Paul G.; Tunstel, Edward; Dubowsky, Steven; Iagnemma, Karl D.; McKee, Gerard T.

    2001-10-01

    During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. While planetary exploration potentially encompasses many elements ranging from orbital remote sensing to subsurface drilling, the surface robotics element is particularly important to advancing in situ science objectives. Surface activities include a direct characterization of geology, mineralogy, atmosphere and other descriptors of current and historical planetary processes-and ultimately-the return of pristine samples to Earth for detailed analysis. Toward these ends, we have conducted a broad program of research on robotic systems for scientific exploration of the Mars surface, with minimal remote intervention. The goal is to enable high productivity semi-autonomous science operations where available mission time is concentrated on robotic operations, rather than up-and-down-link delays. Results of our work include prototypes for landed manipulators, long-ranging science rovers, sampling/sample return mobility systems, and more recently, terrain-adaptive reconfigurable/modular robots and closely cooperating multiple rover systems. The last of these are intended to facilitate deployment of planetary robotic outposts for an eventual human-robot sustained scientific presence. We overview our progress in these related areas of planetary robotics R&D, spanning 1995-to-present.

  4. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

    Directory of Open Access Journals (Sweden)

    Changan Jiang

    2016-01-01

    Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

  5. 75 FR 57502 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2010-09-21

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF JUSTICE Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics Technology Consortium, Inc. Correction In notice document 2010-22215 beginning on page 54914 in the issue...

  6. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    Science.gov (United States)

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  7. Cooperative terrain model acquisition by two point-robots in planar polygonal terrains

    Energy Technology Data Exchange (ETDEWEB)

    Rao, N.S.V.; Protopopescu, V.

    1994-11-29

    We address the model acquisition problem for an unknown terrain by a team of two robots. The terrain may be cluttered by a finite number of polygonal obstacles with unknown shapes and positions. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scanning from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming/expensive of all the robot operations. We employ the restricted visibility graph methods in a hierarchiacal setup. For terrains with convex obstacles, the sensing time can be halved compared to a single robot implementation. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into 2-connected components and trees is considered. Performance for the 2-robot team is expressed in terms of sizes of 2-connected components, and the sizes and diameters of the trees. The proposed algorithm and analysis can be applied to the methods based on Voronoi diagram and trapezoidal decomposition.

  8. Evidence of Self-Directed Learning on a High School Robotics Team

    Directory of Open Access Journals (Sweden)

    Nathan R. Dolenc

    2014-12-01

    Full Text Available Self-directed learning is described as an individual taking the initiative to engage in a learning experience while assuming responsibility to follow through to its conclusion. Robotics competitions are examples of informal environments that can facilitate self-directed learning. This study examined how mentor involvement, student behavior, and physical workspace contributed to self-directed learning on one robotics competition team. How did mentors transfer responsibility to students? How did students respond to managing a team? Are the physical attributes of a workspace important? The mentor, student, and workplace factors captured in the research showed mentors wanting students to do the work, students assuming leadership roles, and the limited workspace having a positive effect on student productivity.

  9. Co-robotic ultrasound imaging: a cooperative force control approach

    Science.gov (United States)

    Finocchi, Rodolfo; Aalamifar, Fereshteh; Fang, Ting Yun; Taylor, Russell H.; Boctor, Emad M.

    2017-03-01

    Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

  10. Model predictive control for cooperative control of space robots

    Science.gov (United States)

    Kannan, Somasundar; Alamdari, Seyed Amin Sajadi; Dentler, Jan; Olivares-Mendez, Miguel A.; Voos, Holger

    2017-01-01

    The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit.

  11. co-Laevo - Supporting Cooperating Teams by Working 'within' Shared Activity Time Lines

    DEFF Research Database (Denmark)

    Jeuris, Steven; Tell, Paolo; Bardram, Jakob

    2016-01-01

    and collaborators’ activities as part of task switching during everyday work. We introduce this concept, and several entailing design implications, as cooperative activity life cycle management. We anticipate the design of such a system to decrease information overload and increases awareness among team members....

  12. Successful Group Work: Using Cooperative Learning and Team-Based Learning in the Classroom

    Science.gov (United States)

    Grant-Vallone, E. J.

    2011-01-01

    This research study examined student perceptions of group experiences in the classroom. The author used cooperative learning and team-based learning to focus on three characteristics that are critical for the success of groups: structure of activities, relationships of group members, and accountability of group members. Results indicated that…

  13. Cooperating with a palliative home-care team: expectations and evaluations of GPs and district nurses

    DEFF Research Database (Denmark)

    Goldschmidt, Dorthe; Groenvold, Mogens; Johnsen, Anna Thit

    2005-01-01

    month later. Questions focussed on benefits to patients, training issues for professionals and cooperation between the home-care team and the GP/ district nurse. A combination of closed- and open-ended questions was used. RESULTS: Response rate was 84% (467/553). Benefits to patients were experienced...

  14. Amsterdam Oxford Joint Rescue Forces: Team description paper: Virtual Robot competition: Rescue Simulation League: RoboCup 2009

    NARCIS (Netherlands)

    A. Visser; G.E. Maillette de Buij Wenniger; H. Nijhuis; F. Alnajar; B. Huijten; M. van der Velden; W. Josemans; B. Terwijn; C. Walraven; Q. Nguyen; R. Sobolewski; H. Flynn; M. Jankowska; J. de Hoog

    2009-01-01

    With the progress made in active exploration, the robots of the Joint Rescue Forces are capable of making deliberative decisions about the distributing exploration locations over the team. To navigate autonomously towards those locations, the robots gradually aggregate their experience in a traversa

  15. Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

    Science.gov (United States)

    Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

    2013-01-01

    This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information. PMID:24398557

  16. Relationships between cooperation and goal orientation among male professional and semi-professional team athletes.

    Science.gov (United States)

    Lameiras, João; Almeida, Pedro L; Garcia-Mas, Alexandre

    2014-12-01

    In team sports, athletes' goals may focus on the task (enhancing performance, developing better skills, etc.) or on ego (being better than the others, achieving superiority, etc.). This study investigated the relationships between athletes' goal orientation and their tendency to cooperate with teammates and coaches. 158 professional men (M age = 24.1 yr., SD = 4.6) who played on various sport teams participated in this study. Goal orientation was measured with the Portuguese version of the Task and Ego Orientation in Sport Questionnaire, and cooperation was measured with the Questionário de Cooperação Desportiva. Cooperation was positively correlated with task orientation, and negatively correlated with ego orientation. Overall, the findings support that in sports, directing the players' focus on task may promote prosocial behavior.

  17. Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

    Directory of Open Access Journals (Sweden)

    Duschau-Wicke Alexander

    2010-09-01

    Full Text Available Abstract Background Manual body weight supported treadmill training and robot-aided treadmill training are frequently used techniques for the gait rehabilitation of individuals after stroke and spinal cord injury. Current evidence suggests that robot-aided gait training may be improved by making robotic behavior more patient-cooperative. In this study, we have investigated the immediate effects of patient-cooperative versus non-cooperative robot-aided gait training on individuals with incomplete spinal cord injury (iSCI. Methods Eleven patients with iSCI participated in a single training session with the gait rehabilitation robot Lokomat. The patients were exposed to four different training modes in random order: During both non-cooperative position control and compliant impedance control, fixed timing of movements was provided. During two variants of the patient-cooperative path control approach, free timing of movements was enabled and the robot provided only spatial guidance. The two variants of the path control approach differed in the amount of additional support, which was either individually adjusted or exaggerated. Joint angles and torques of the robot as well as muscle activity and heart rate of the patients were recorded. Kinematic variability, interaction torques, heart rate and muscle activity were compared between the different conditions. Results Patients showed more spatial and temporal kinematic variability, reduced interaction torques, a higher increase of heart rate and more muscle activity in the patient-cooperative path control mode with individually adjusted support than in the non-cooperative position control mode. In the compliant impedance control mode, spatial kinematic variability was increased and interaction torques were reduced, but temporal kinematic variability, heart rate and muscle activity were not significantly higher than in the position control mode. Conclusions Patient-cooperative robot-aided gait training

  18. Human-robot cooperative movement training: learning a novel sensory motor transformation during walking with robotic assistance-as-needed.

    Science.gov (United States)

    Emken, Jeremy L; Benitez, Raul; Reinkensmeyer, David J

    2007-03-28

    A prevailing paradigm of physical rehabilitation following neurologic injury is to "assist-as-needed" in completing desired movements. Several research groups are attempting to automate this principle with robotic movement training devices and patient cooperative algorithms that encourage voluntary participation. These attempts are currently not based on computational models of motor learning. Here we assume that motor recovery from a neurologic injury can be modelled as a process of learning a novel sensory motor transformation, which allows us to study a simplified experimental protocol amenable to mathematical description. Specifically, we use a robotic force field paradigm to impose a virtual impairment on the left leg of unimpaired subjects walking on a treadmill. We then derive an "assist-as-needed" robotic training algorithm to help subjects overcome the virtual impairment and walk normally. The problem is posed as an optimization of performance error and robotic assistance. The optimal robotic movement trainer becomes an error-based controller with a forgetting factor that bounds kinematic errors while systematically reducing its assistance when those errors are small. As humans have a natural range of movement variability, we introduce an error weighting function that causes the robotic trainer to disregard this variability. We experimentally validated the controller with ten unimpaired subjects by demonstrating how it helped the subjects learn the novel sensory motor transformation necessary to counteract the virtual impairment, while also preventing them from experiencing large kinematic errors. The addition of the error weighting function allowed the robot assistance to fade to zero even though the subjects' movements were variable. We also show that in order to assist-as-needed, the robot must relax its assistance at a rate faster than that of the learning human. The assist-as-needed algorithm proposed here can limit error during the learning of a

  19. Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

    OpenAIRE

    Defoort, Michael; Floquet, Thierry; Kökösy, Annemarie; Perruquetti, Wilfrid

    2008-01-01

    International audience; This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables for...

  20. Robust and efficient vision system for group of cooperating mobile robots with application to soccer robots.

    Science.gov (United States)

    Klancar, Gregor; Kristan, Matej; Kovacic, Stanislav; Orqueda, Omar

    2004-07-01

    In this paper a global vision scheme for estimation of positions and orientations of mobile robots is presented. It is applied to robot soccer application which is a fast dynamic game and therefore needs an efficient and robust vision system implemented. General applicability of the vision system can be found in other robot applications such as mobile transport robots in production, warehouses, attendant robots, fast vision tracking of targets of interest and entertainment robotics. Basic operation of the vision system is divided into two steps. In the first, the incoming image is scanned and pixels are classified into a finite number of classes. At the same time, a segmentation algorithm is used to find corresponding regions belonging to one of the classes. In the second step, all the regions are examined. Selection of the ones that are a part of the observed object is made by means of simple logic procedures. The novelty is focused on optimization of the processing time needed to finish the estimation of possible object positions. Better results of the vision system are achieved by implementing camera calibration and shading correction algorithm. The former corrects camera lens distortion, while the latter increases robustness to irregular illumination conditions.

  1. Fuzzy variable impedance control based on stiffness identification for human-robot cooperation

    Science.gov (United States)

    Mao, Dachao; Yang, Wenlong; Du, Zhijiang

    2017-06-01

    This paper presents a dynamic fuzzy variable impedance control algorithm for human-robot cooperation. In order to estimate the intention of human for co-manipulation, a fuzzy inference system is set up to adjust the impedance parameter. Aiming at regulating the output fuzzy universe based on the human arm’s stiffness, an online stiffness identification method is developed. A drag interaction task is conducted on a 5-DOF robot with variable impedance control. Experimental results demonstrate that the proposed algorithm is superior.

  2. Glazed panel construction with human-robot cooperation

    CERN Document Server

    Lee, Seungyeol

    2011-01-01

    These days, construction companies are beginning to be concerned about a potential labor shortage by demographic changes and an aging construction work force. Also, an improvement in construction safety could not only reduce accidents but also decrease the cost of the construction, and is therefore one of the imperative goals of the construction industry. These challenges correspond to the potential for Automation and Robotics in Construction as one of solutions. Almost half of construction work is said to be material handling and materials used for construction are heavy and bulky for humans.

  3. [Regional geriatric team--a model for cooperation between nursing homes and hospitals].

    Science.gov (United States)

    Sellaeg, Wenche Frogn

    2005-04-21

    Few studies describe and evaluate the use of ambulatory geriatric teams in nursing homes. This article gives an account of a model in which a multidisciplinary group from the local hospital has been visiting 17 communities in Norway twice a year for 11 years. The ambulatory geriatric team includes a geriatrician, a geriatric nurse, a physiotherapist and an occupational therapist. Their aim is to raise the quality of geriatric assessment and care and to enhance the cooperation between the hospital and the nursing homes in the communities. The team members are doing a comprehensive geriatric assessment of some of the patients; they assess cases for further referral, and examine patients with declining functioning with a view to rehabilitation. The team provides instruction in various aspects of geriatrics to community care professionals. Much time is devoted to discussions on problems raised by the staff, such as management of patients with dementia-related behavioural problems, and to provide feedback to staff-members. The team liaise between hospitals, nursing homes and community care services in the communities in order to enhance communication between the professionals involved. An evaluation of the team was done on behalf of the National Institute of Health through a postal questionnaire which was returned by 223 doctors, nurses and allied health care professionals. The results indicate that visits by the ambulatory team improve the knowledge of doctors and allied professionals about diseases in the elderly; 92% reported that they now felt they were doing a better job.

  4. NEW APPROACHES FOR COMPUTING DYNAMIC LOAD-CARRYING CAPACITY OF MULTIPLE COOPERATING ROBOTIC MANIPULATORS

    Institute of Scientific and Technical Information of China (English)

    1998-01-01

    A novel unified method for computing the dynamic load-carrying capacity(DLCC) of multiple cooperating robotic manipulators is developed.In this method,the kinematic constraints and the governing dynamic equations of the multiple robot system are formulated in the joint space by using the method of transference of dependence from one set of generalized coordinates to another,and the virtual work principle,which includes the readily available dynamics and joint torques of individual manipulators,and the dynamic of payload.Based on this dynamic model,the upper limit of the DLCC at any points on a given trajectory is obtained by solving a small-size linear programming problem.This method is conceptually straightforward,and it is applicable also to the cases of multi-fingered robot hands and multi-legged walking machines.

  5. Study and application of reinforcement learning based on DAI in cooperative strategy of robot soccer

    Institute of Scientific and Technical Information of China (English)

    GUO Qi; ZHANG Da-zhi; YANG Yong-tian

    2009-01-01

    A dynamic cooperation model of multi-agent is established by combining reinforcement learning with distributed artificial intelligence (DAI), in which the concept of individual optimization loses its meaning be-cause of the dependence of repayment on each agent itself and the choice of other agents. Utilizing the idea of DAI, the intellectual unit of each robot and the change of task and environment, each agent can make decisions independently and finish various complicated tasks by communication and reciprocation between each other. The method is superior to other reinforcement learning methods commonly used in the multi-agent system. It can im-prove the convergence velocity of reinforcement learning, decrease requirements of computer memory, and en-hance the capability of computing and logical ratiocinating for agent. The result of a simulated robot soccer match proves that the proposed cooperative strategy is valid.

  6. Using "human state aware" robots to enhance physical human-robot interaction in a cooperative scenario.

    Science.gov (United States)

    Guerrero, Carlos Rodriguez; Fraile Marinero, Juan Carlos; Turiel, Javier Perez; Muñoz, Victor

    2013-11-01

    Human motor performance, speed and variability are highly susceptible to emotional states. This paper reviews the impact of the emotions on the motor control performance, and studies the possibility of improving the perceived skill/challenge relation on a multimodal neural rehabilitation scenario, by means of a biocybernetic controller that modulates the assistance provided by a haptic controlled robot in reaction to undesirable physical and mental states. Results from psychophysiological, performance and self assessment data for closed loop experiments in contrast with their open loop counterparts, suggest that the proposed method had a positive impact on the overall challenge/skill relation leading to an enhanced physical human-robot interaction experience.

  7. Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

    Science.gov (United States)

    Colombano, Silvano P.; Kirchner, Frank; Spenneberg, Dirk; Starman, Jared; Hanratty, James; Kovsmeyer, David (Technical Monitor)

    2003-01-01

    NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

  8. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    OpenAIRE

    Bin Zi; Huihui Sun; Zhencai Zhu; Sen Qian

    2012-01-01

    This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs). The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit‐Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non‐singular terminal sliding mode control strategy is design...

  9. Speech and gesture interfaces for squad-level human-robot teaming

    Science.gov (United States)

    Harris, Jonathan; Barber, Daniel

    2014-06-01

    As the military increasingly adopts semi-autonomous unmanned systems for military operations, utilizing redundant and intuitive interfaces for communication between Soldiers and robots is vital to mission success. Currently, Soldiers use a common lexicon to verbally and visually communicate maneuvers between teammates. In order for robots to be seamlessly integrated within mixed-initiative teams, they must be able to understand this lexicon. Recent innovations in gaming platforms have led to advancements in speech and gesture recognition technologies, but the reliability of these technologies for enabling communication in human robot teaming is unclear. The purpose for the present study is to investigate the performance of Commercial-Off-The-Shelf (COTS) speech and gesture recognition tools in classifying a Squad Level Vocabulary (SLV) for a spatial navigation reconnaissance and surveillance task. The SLV for this study was based on findings from a survey conducted with Soldiers at Fort Benning, GA. The items of the survey focused on the communication between the Soldier and the robot, specifically in regards to verbally instructing them to execute reconnaissance and surveillance tasks. Resulting commands, identified from the survey, were then converted to equivalent arm and hand gestures, leveraging existing visual signals (e.g. U.S. Army Field Manual for Visual Signaling). A study was then run to test the ability of commercially available automated speech recognition technologies and a gesture recognition glove to classify these commands in a simulated intelligence, surveillance, and reconnaissance task. This paper presents classification accuracy of these devices for both speech and gesture modalities independently.

  10. Autonomous robotic capture of non-cooperative target by adaptive extended Kalman filter based visual servo

    Science.gov (United States)

    Dong, Gangqi; Zhu, Zheng H.

    2016-05-01

    This paper presents a real-time, vision-based algorithm for the pose and motion estimation of non-cooperative targets and its application in visual servo robotic manipulator to perform autonomous capture. A hybrid approach of adaptive extended Kalman filter and photogrammetry is developed for the real-time pose and motion estimation of non-cooperative targets. Based on the pose and motion estimates, the desired pose and trajectory of end-effector is defined and the corresponding desired joint angles of the robotic manipulator are derived by inverse kinematics. A close-loop visual servo control scheme is then developed for the robotic manipulator to track, approach and capture the target. Validating experiments are designed and performed on a custom-built six degrees of freedom robotic manipulator with an eye-in-hand configuration. The experimental results demonstrate the feasibility, effectiveness and robustness of the proposed adaptive extended Kalman filter enabled pose and motion estimation and visual servo strategy.

  11. Evolving homogeneous neurocontrollers for a group of heterogeneous robots: coordinated motion, cooperation, and acoustic communication.

    Science.gov (United States)

    Tuci, Elio; Ampatzis, Christos; Vicentini, Federico; Dorigo, Marco

    2008-01-01

    This article describes a simulation model in which artificial evolution is used to design homogeneous control structures and adaptive communication protocols for a group of three autonomous simulated robots. The agents are required to cooperate in order to approach a light source while avoiding collisions. The robots are morphologically different: Two of them are equipped with infrared sensors, one with light sensors. Thus, the two morphologically identical robots should take care of obstacle avoidance; the other one should take care of phototaxis. Since all of the agents can emit and perceive sound, the group's coordination of actions is based on acoustic communication. The results of this study are a proof of concept: They show that dynamic artificial neural networks can be successfully synthesized by artificial evolution to design the neural mechanisms required to underpin the behavioral strategies and adaptive communication capabilities demanded by this task. Postevaluation analyses unveil operational aspects of the best evolved behavior. Our results suggest that the building blocks and the evolutionary machinery detailed in the article should be considered in future research work dealing with the design of homogeneous controllers for groups of heterogeneous cooperating and communicating robots.

  12. Prospecting for lunar ice using a multi-rover cooperative team

    Energy Technology Data Exchange (ETDEWEB)

    KLARER,PAUL R.; FEDDEMA,JOHN T.; LEWIS,CHRISTOPHER L.

    2000-02-11

    A multi-rover cooperative team or swarm developed by Sandia National Laboratories is described, including various control methodologies that have been implemented to date. How the swarm's capabilities could be applied to a lunar ice prospecting mission is briefly explored. Some of the specific major engineering issues that must be addressed to successfully implement the swarm approach to a lunar surface mission are outlined, and potential solutions are proposed.

  13. Balancing search and target response in cooperative unmanned aerial vehicle (UAV) teams.

    Science.gov (United States)

    Jin, Yan; Liao, Yan; Minai, Ali A; Polycarpou, Marios M

    2006-06-01

    This paper considers a heterogeneous team of cooperating unmanned aerial vehicles (UAVs) drawn from several distinct classes and engaged in a search and action mission over a spatially extended battlefield with targets of several types. During the mission, the UAVs seek to confirm and verifiably destroy suspected targets and discover, confirm, and verifiably destroy unknown targets. The locations of some (or all) targets are unknown a priori, requiring them to be located using cooperative search. In addition, the tasks to be performed at each target location by the team of cooperative UAVs need to be coordinated. The tasks must, therefore, be allocated to UAVs in real time as they arise, while ensuring that appropriate vehicles are assigned to each task. Each class of UAVs has its own sensing and attack capabilities, so the need for appropriate assignment is paramount. In this paper, an extensive dynamic model that captures the stochastic nature of the cooperative search and task assignment problems is developed, and algorithms for achieving a high level of performance are designed. The paper focuses on investigating the value of predictive task assignment as a function of the number of unknown targets and number of UAVs. In particular, it is shown that there is a tradeoff between search and task response in the context of prediction. Based on the results, a hybrid algorithm for switching the use of prediction is proposed, which balances the search and task response. The performance of the proposed algorithms is evaluated through Monte Carlo simulations.

  14. Cooperative Learning through Team-Based Projects in the Biotechnology Industry.

    Science.gov (United States)

    Luginbuhl, Sarah C; Hamilton, Paul T

    2013-01-01

    We have developed a cooperative-learning, case studies project model that has teams of students working with biotechnology professionals on company-specific problems. These semester-long, team-based projects can be used effectively to provide students with valuable skills in an industry environment and experience addressing real issues faced by biotechnology companies. Using peer-evaluations, we have seen improvement in students' professional skills such as time-management, quality of work, and level of contribution over multiple semesters. This model of team-based, industry-sponsored projects could be implemented in other college and university courses/programs to promote professional skills and expose students to an industry setting.

  15. Cooperative Learning through Team-Based Projects in the Biotechnology Industry

    Directory of Open Access Journals (Sweden)

    Sarah C. Luginbuhl

    2013-08-01

    Full Text Available We have developed a cooperative-learning, case studies project model that has teams of students working with biotechnology professionals on company-specific problems. These semester-long, team-based projects can be used effectively to provide students with valuable skills in an industry environment and experience addressing real issues faced by biotechnology companies. Using peer-evaluations, we have seen improvement in students’ professional skills such as time-management, quality of work, and level of contribution over multiple semesters. This model of team-based, industry-sponsored projects could be implemented in other college and university courses/programs to promote professional skills and expose students to an industry setting.

  16. Physio-behavioral coupling in a cooperative team task: contributors and relations.

    Science.gov (United States)

    Strang, Adam J; Funke, Gregory J; Russell, Sheldon M; Dukes, Allen W; Middendorf, Matthew S

    2014-02-01

    Research indicates that coactors performing cooperative tasks often exhibit spontaneous and unintended similarities in their physiological and behavioral responses--a phenomenon referred to here as physio-behavioral coupling (PBC). The purpose of this research was to identify contributors to PBC; examine relationships between PBC, team performance, and perceived team attributes (e.g., cohesion, trust); and compare a set of time-series measures(cross-correlation [CC], cross-recurrence quantification analysis [CRQA], and cross-fuzzy entropy [CFEn]) in their characterization of PBC across comparisons. To accomplish this, PBC was examined in human postural sway (PS) and cardiac interbeat intervals (IBIs) from dyadic teams performing a fast-paced puzzle task (Quadra--a variant of the video game Tetris). Results indicated that observed levels of PBC were not a chance occurrence, but instead driven by features of the team-task environment, and that PBC was likely influenced by similar individual task demands and interpersonal coordination dynamics that were not "unique" to a particular team. Correlation analysis revealed that PBC exhibited negative relationships with team performance and team attributes, which were interpreted to reflect complementary coordination (as opposed to mimicry) during task performance, potentially due to differentiated team roles. Finally, qualitative comparison of time-series measures used to characterize PBC indicated that CRQA percent recurrence and CFEn (both nonlinear measures) settled on mostly analogous characterizations, whereas linear CC did not. The disparity observed between the linear and nonlinear measures highlights underlying computational and interpretational differences between the two families of statistics and supports the use of multiple metrics for characterizing PBC.

  17. Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton.

    Science.gov (United States)

    del-Ama, Antonio J; Gil-Agudo, Angel; Pons, José L; Moreno, Juan C

    2014-03-04

    Robotic and functional electrical stimulation (FES) approaches are used for rehabilitation of walking impairment of spinal cord injured individuals. Although devices are commercially available, there are still issues that remain to be solved. Control of hybrid exoskeletons aims at blending robotic exoskeletons and electrical stimulation to overcome the drawbacks of each approach while preserving their advantages. Hybrid actuation and control have a considerable potential for walking rehabilitation but there is a need of novel control strategies of hybrid systems that adequately manage the balance between FES and robotic controllers. Combination of FES and robotic control is a challenging issue, due to the non-linear behavior of muscle under stimulation and the lack of developments in the field of hybrid control. In this article, a cooperative control strategy of a hybrid exoskeleton is presented. This strategy is designed to overcome the main disadvantages of muscular stimulation: electromechanical delay and change in muscle performance over time, and to balance muscular and robotic actuation during walking.Experimental results in healthy subjects show the ability of the hybrid FES-robot cooperative control to balance power contribution between exoskeleton and muscle stimulation. The robotic exoskeleton decreases assistance while adequate knee kinematics are guaranteed. A new technique to monitor muscle performance is employed, which allows to estimate muscle fatigue and implement muscle fatigue management strategies. Kinesis is therefore the first ambulatory hybrid exoskeleton that can effectively balance robotic and FES actuation during walking. This represents a new opportunity to implement new rehabilitation interventions to induce locomotor activity in patients with paraplegia.Acronym list: 10 mWT: ten meters walking test; 6 MWT: six minutes walking test; FSM: finite-state machine; t-FSM: time-domain FSM; c-FSM: cycle-domain FSM; FES: functional electrical

  18. IDC Robocon: A Transnational Teaming Competition for Project-Based Design Education in Undergraduate Robotics

    Directory of Open Access Journals (Sweden)

    Ning Tan

    2016-06-01

    Full Text Available This paper presents a robot design competition called ‘IDC Robocon’ as an effective tool for engineering education. The International Design Contest (IDC Robocon competition has several benefits in creating a meaningful design experience for undergraduate engineering students and includes an international flavour as participants of the competition hail from all around the world. The problem posed to the contestants is to design, build and test mobile robots that are capable of accomplishing a task. A primary goal of the competition is to provide undergraduates with a meaningful design experience with an emphasis on mechanical design, electronic circuits and programming. It is hoped that by placing the emphasis on the design, the course will encourage more undergraduates to go into the field of engineering design. This paper presents the latest 2015 IDC Robocon (the 26th edition in detail and discusses course of events and results in terms of the educational experience. In this competition, a simulated space problem of cleaning the debris from orbit is proposed for the latest IDC Robocon competition. Teams, comprising of students from multiple countries work together to develop robotic systems to compete with each other in collecting the foam balls and delivering them to the rotating the holder.

  19. Minefield Mapping Using Cooperative Multirobot Systems

    Directory of Open Access Journals (Sweden)

    Alaa Khamis

    2012-01-01

    Full Text Available This paper presents a team-theoretic approach to cooperative multirobot systems. The individual actions of the robots are controlled by the Belief-Desire-Intention model to endow the robots with the know-how needed to execute these actions deliberately. The cooperative behaviors between the heterogeneous robots are governed by the Team-Log theory to endow all the robots in the team with the know-how-to-cooperate and determine the team members’ commitments to each other despite their different types, properties, and goals. The proposed approach is tested for validity with the real life problem of minefield mapping. Different minefield sweeping strategies are studied to control the mobility of the mobile sweepers within the minefield in order to maximize the area coverage and improve picture compilation capability of the multirobot system.

  20. A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

    Science.gov (United States)

    Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

    The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

  1. Analysing the behaviour of robot teams through relational sequential pattern mining

    CERN Document Server

    Bombini, Grazia; Ferilli, Stefano; de Mantaras, Ramon Lopez

    2010-01-01

    This report outlines the use of a relational representation in a Multi-Agent domain to model the behaviour of the whole system. A desired property in this systems is the ability of the team members to work together to achieve a common goal in a cooperative manner. The aim is to define a systematic method to verify the effective collaboration among the members of a team and comparing the different multi-agent behaviours. Using external observations of a Multi-Agent System to analyse, model, recognize agent behaviour could be very useful to direct team actions. In particular, this report focuses on the challenge of autonomous unsupervised sequential learning of the team's behaviour from observations. Our approach allows to learn a symbolic sequence (a relational representation) to translate raw multi-agent, multi-variate observations of a dynamic, complex environment, into a set of sequential behaviours that are characteristic of the team in question, represented by a set of sequences expressed in first-order l...

  2. The Effect of Cooperative Learning Model of Teams Games Tournament (TGT) and Students' Motivation toward Physics Learning Outcome

    Science.gov (United States)

    Nadrah; Tolla, Ismail; Ali, Muhammad Sidin; Muris

    2017-01-01

    This research aims at describing the effect of cooperative learning model of Teams Games Tournament (TGT) and motivation toward physics learning outcome. This research was a quasi-experimental research with a factorial design conducted at SMAN 2 Makassar. Independent variables were learning models. They were cooperative learning model of TGT and…

  3. Establishing human situation awareness using a multi-modal operator control unit in an urban search & rescue human-robot team

    NARCIS (Netherlands)

    Larochelle, B.; Kruijff, G.J.M.; Smets, N.; Mioch, T.; Groenewegen, P.

    2011-01-01

    Early on in a disaster it is crucial for humans to make an assessment of the situation, to help determine further action. Robots can potentially assist humans here, particularly when the hotzone is too dangerous for humans. Crucial in this human-robot team effort is that the system of robot and mean

  4. Vision-Based Cooperative Pose Estimation for Localization in Multi-Robot Systems Equipped with RGB-D Cameras

    Directory of Open Access Journals (Sweden)

    Xiaoqin Wang

    2014-12-01

    Full Text Available We present a new vision based cooperative pose estimation scheme for systems of mobile robots equipped with RGB-D cameras. We first model a multi-robot system as an edge-weighted graph. Then, based on this model, and by using the real-time color and depth data, the robots with shared field-of-views estimate their relative poses in pairwise. The system does not need the existence of a single common view shared by all robots, and it works in 3D scenes without any specific calibration pattern or landmark. The proposed scheme distributes working loads evenly in the system, hence it is scalable and the computing power of the participating robots is efficiently used. The performance and robustness were analyzed both on synthetic and experimental data in different environments over a range of system configurations with varying number of robots and poses.

  5. Formation-based Control Scheme for Cooperative Transportation by Multiple Mobile Robots

    Directory of Open Access Journals (Sweden)

    Alpaslan Yufka

    2015-09-01

    Full Text Available This paper presents a motion-planning and control scheme for a cooperative transportation system comprising a single rigid object and multiple autonomous non-holonomic mobile robots. A leader-follower formation control strategy is used for the transportation system in which the object is assumed to be the virtual leader; the robots carrying the object are considered to be followers. A smooth trajectory between the current and desired locations of the object is generated considering the constraints of the virtual leader. In the leader follower approach, the origin of the coordinate system attached to the centre of gravity of the object, which is known as the virtual leader, moves along the generated trajectory while the real robots, which are known as followers, maintain a desired distance and orientation in relation to the leader. An asymptotically stable tracking controller is used for trajectory tracking. The proposed approach is verified by simulations and real applications using Pioneer P3-DX mobile robots.

  6. Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

    Science.gov (United States)

    Lew, Jae Young; Book, Wayne J.

    1991-01-01

    Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

  7. Study and Application of Reinforcement Learning in Cooperative Strategy of the Robot Soccer Based on BDI Model

    Directory of Open Access Journals (Sweden)

    Wu Bo-ying

    2009-11-01

    Full Text Available The dynamic cooperation model of multi-Agent is formed by combining reinforcement learning with BDI model. In this model, the concept of the individual optimization loses its meaning, because the repayment of each Agent dose not only depend on itsself but also on the choice of other Agents. All Agents can pursue a common optimum solution and try to realize the united intention as a whole to a maximum limit. The robot moves to its goal, depending on the present positions of the other robots that cooperate with it and the present position of the ball. One of these robots cooperating with it is controlled to move by man with a joystick. In this way, Agent can be ensured to search for each state-action as frequently as possible when it carries on choosing movements, so as to shorten the time of searching for the movement space so that the convergence speed of reinforcement learning can be improved. The validity of the proposed cooperative strategy for the robot soccer has been proved by combining theoretical analysis with simulation robot soccer match (11vs11 .

  8. A Dynamic Cooperative Scheme with Multiple Antennas for Indoor Mobile Robot Localization

    Directory of Open Access Journals (Sweden)

    Chung-Liang Chang

    2013-01-01

    Full Text Available This paper proposes a spatial cooperative diversity and decision-making technique to enhance signal detection and indoor mobile robot positioning performance of a global positioning satellite system (GNSS receiver. Though the adaptive antenna array technique in early research could effectively promote antijamming freedom, overcome time-varying system, and mitigate narrowband and wideband interferences, factors such as the decrease of signal magnitude caused by obstacles (especially in the indoor environment, multipath, and blanking effect caused by the change in antenna direction with the motion of mobile robot can degrade the detection and interference mitigation performance of GNSS receivers. This paper aims to develop a dynamic cooperative scheme to proceed with the switch, selection, combination, and optimization among antennas. In addition, a signal processing experimental platform is also established to receive actually indoor GNSS signals for verification. The proposed scheme is capable of effectively promoting the postcorrelation signal-to-noise ratio (SNR capability of a GNSS receiver under the indoor environment.

  9. I Reach Faster When I See You Look: Gaze Effects in Human-Human and Human-Robot Face-to-Face Cooperation.

    Science.gov (United States)

    Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerrard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

    2012-01-01

    Human-human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human-human cooperation experiment demonstrating that an agent's vision of her/his partner's gaze can significantly improve that agent's performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human-robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human-robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times.

  10. Discussion of Multi-Robot Exploration in Communication-Limited Environments

    NARCIS (Netherlands)

    Visser, A.; de Hoog, J.; Jiménez-González, A.; Martínez-de Dios, J.R.; Franchi, A.

    2013-01-01

    Many robotics applications benefit from cooperative exploration by multiple robots. Often the environments that they operate in contain significant communication challenges due to their size or complexity. There has been much work in keeping teams of autonomously exploring robots connected to one an

  11. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  12. Team Robot Motion Planning in Dynamics Environments Using a New Hybrid Algorithm (Honey Bee Mating Optimization-Tabu List

    Directory of Open Access Journals (Sweden)

    Mohammad Abaee Shoushtary

    2014-01-01

    Full Text Available This paper describes a new hybrid algorithm extracted from honey bee mating optimization (HBMO algorithm (for robot travelling distance minimization and tabu list technique (for obstacle avoidance for team robot system. This algorithm was implemented in a C++ programming language on a Pentium computer and simulated on simple cylindrical robots in a simulation software. The environment in this simulation was dynamic with moving obstacles and goals. The results of simulation have shown validity and reliability of new algorithm. The outcomes of simulation have shown better performance than ACO and PSO algorithm (society, nature algorithms with respect to two well-known metrics included, ATPD (average total path deviation and AUTD (average uncovered target distance.

  13. Dream of future on human-machine cooperative system; Ningen robot system ni okeru fluid power gijutsu

    Energy Technology Data Exchange (ETDEWEB)

    Tanaka, Y. [Hosei University, Tokyo (Japan). Faculty of Engineering

    2000-01-15

    This paper describes the human-machine cooperative system and fluid power technology. Most of Japanese robot R and D activities shifted from early R and D on hydraulic or pneumatic driving to that on simple electric driving, and development of fluid power technology as actuator and control technology is retarded. For creating an artificial work environment with a presence by virtual reality formation technology, an equipment (actuator) directly acting such five senses (sensor) of operators as visual, auditory, pressure and contact senses is essential. Pneumatic actuator is extremely suitable for such one because of its small size, light weight, safety and high power density. Robocup has been held as the soccer game of many autonomous robots. For the soccer game of human beings and robots, development of such technologies for advanced autonomous robots is necessary as realtime processing, advanced intelligence, human friendliness, safety, high-efficiency high-power actuator equivalent to human muscle, and energy source. (NEDO)

  14. Micro-assembly of a Vascular-like Micro-channel with Railed Micro-robot Team-coordinated Manipulation

    Directory of Open Access Journals (Sweden)

    Huaping Wang

    2014-07-01

    strategies were evaluated based on the assembly of micro-donuts. Through the novel, designed, concentric movement of the multi-manipulators along the rail, arbitrary change of the approaching angle and the coordination posture was achieved to improve the micro-assembly’s flexibility. The operation range for every micromanipulator in different coordinated manipulation modes was analysed to avoid the breakdown of the assembled 3D structure. The image processing for the target location and end-effector identification was conducted to improve assembly efficiency in the micro-robot-team system. Finally, the assembly of the cellular vascular-like micro-channel was achieved with coordinated manipulation in the rail- guided micro-robot-team system.

  15. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit‐Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non‐singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non‐singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  16. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  17. A cognitive neuroscience perspective on embodied language for human-robot cooperation.

    Science.gov (United States)

    Madden, Carol; Hoen, Michel; Dominey, Peter Ford

    2010-03-01

    This article addresses issues in embodied sentence processing from a "cognitive neural systems" approach that combines analysis of the behavior in question, analysis of the known neurophysiological bases of this behavior, and the synthesis of a neuro-computational model of embodied sentence processing that can be applied to and tested in the context of human-robot cooperative interaction. We propose a Hybrid Comprehension Model that links compact propositional representations of sentences and discourse with their temporal unfolding in situated simulations, under the control of grammar. The starting point is a model of grammatical construction processing which specifies the neural mechanisms by which language is a structured inventory of mappings from sentence to meaning. This model is then "embodied" in a perceptual-motor system (robot) which allows it access to sentence-perceptual representation pairs, and interaction with the world providing the basis for language acquisition. We then introduce a "simulation" capability, such that the robot has an internal representation of its interaction with the world. The control of this simulator and the associated representations present a number of interesting "neuro-technical" issues. First, the "simulator" has been liberated from real-time. It can run without being connected to current sensory motor experience. Second, "simulations" appear to be represented at different levels of detail. Our paper provides a framework for beginning to address the questions: how does language and its grammar control these aspects of simulation, what are the neurophysiological bases, and how can this be demonstrated in an artificial yet embodied cognitive system. Copyright 2009 Elsevier Inc. All rights reserved.

  18. Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

    Science.gov (United States)

    Zarafshan, P.; Moosavian, S. Ali A.

    2013-10-01

    Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors

  19. Robotics in Remote and Hostile Environments

    Science.gov (United States)

    Bellingham, James G.; Rajan, Kanna

    2007-11-01

    In our continuing quest for knowledge, robots are powerful tools for accessing environments too dangerous or too remote for human exploration. Early systems functioned under close human supervision, effectively limited to executing preprogrammed tasks. However, as exploration moves to regions where communication is ineffective or unviable, robots will need to carry out complex tasks without human supervision. To enable such capabilities, robots are being enhanced by advances ranging from new sensor development to automated mission planning software, distributed robotic control, and more efficient power systems. As robotics technology becomes simultaneously more capable and economically viable, individual robots operated at large expense by teams of experts are increasingly supplemented by teams of robots used cooperatively under minimal human supervision.

  20. Japanese lunar robotics exploration by co-operation with lander and rover

    Indian Academy of Sciences (India)

    Takashi Kubota; Yasuharu Kunii; Yoji Kuroda

    2005-12-01

    Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed.A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials.This will give us the key information to study the lunar inner structure and understand the Moon ’s origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes.To carry out the geological exploration in the central peak,lander and rover co-operative exploration is proposed.The working group has been conducting feasibility study of advance technologies.This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established. The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator.The design and implementation of a science rover for the near future lunar missions requiring long traverses and scientific observations are described and some experimental results are presented.

  1. Robust Intelligence (RI) under uncertainty: Mathematical foundations of autonomous hybrid (human-machine-robot) teams, organizations and systems

    OpenAIRE

    Lawless, William F.

    2013-01-01

    To develop a theory of Robust Intelligence (RI), we continue to advance our theory of interdependence on the efficient and effective control of systems of autonomous hybrid teams composed of robots, machines and humans working interchangeably. As is the case with humans, we believe that RI is less likely to be achieved by individual computational agents; instead, we propose that a better path to RI is with interdependent agents. However, unlike conventional computational models where agents a...

  2. Movement Performance of Human-Robot Cooperation Control Based on EMG-driven Hill-type and Proportional Models for an Ankle Power-assist Exoskeleton Robot.

    Science.gov (United States)

    Ao, Di; Song, Rong; Gao, Jin-Wu

    2016-06-22

    Although the merits of electromyography (EMG)-based control of powered assistive systems have been certified, the factors that affect the performance of EMG-based human-robot cooperation, which are very important, have received little attention. This study investigates whether a more physiologically appropriate model could improve the performance of human-robot cooperation control for an ankle power-assist exoskeleton robot. To achieve the goal, an EMG-driven Hill-type neuromusculoskeletal model (HNM) and a linear proportional model (LPM) were developed and calibrated through maximum isometric voluntary dorsiflexion (MIVD). The two control models could estimate the real-time ankle joint torque, and HNM is more accurate and can account for the change of the joint angle and muscle dynamics. Then, eight healthy volunteers were recruited to wear the ankle exoskeleton robot and complete a series of sinusoidal tracking tasks in the vertical plane. With the various levels of assist based on the two calibrated models, the subjects were instructed to track the target displayed on the screen as accurately as possible by performing ankle dorsiflexion and plantarflexion. Two measurements, the root mean square error (RMSE) and root mean square jerk (RMSJ), were derived from the assistant torque and kinematic signals to characterize the movement performances, whereas the amplitudes of the recorded EMG signals from the tibialis anterior (TA) and the gastrocnemius (GAS) were obtained to reflect the muscular efforts. The results demonstrated that the muscular effort and smoothness of tracking movements decreased with an increase in the assistant ratio. Compared with LPM, subjects made lower physical efforts and generated smoother movements when using HNM, which implied that a more physiologically appropriate model could enable more natural and human-like human-robot cooperation and has potential value for improvement of human-exoskeleton interaction in future applications.

  3. Multi-Level Evaluation of Cooperative Research Centers: Bridging between the Triple Helix and the Science of Team Science

    Science.gov (United States)

    Gray, Denis O.; Sundstrom, Eric

    2010-01-01

    Two emergent conceptual models for fostering the development of innovative technology through applied science at Cooperative Research Centers (CRCs)--the Triple Helix and the science of team science--have proved highly productive in stimulating research into how the innovation process works. Although the two arenas for fostering innovation have…

  4. Historical Trends of Participation of Women Scientists in Robotic Spacecraft Mission Science Teams: Effect of Participating Scientist Programs

    Science.gov (United States)

    Rathbun, Julie A.; Castillo-Rogez, Julie; Diniega, Serina; Hurley, Dana; New, Michael; Pappalardo, Robert T.; Prockter, Louise; Sayanagi, Kunio M.; Schug, Joanna; Turtle, Elizabeth P.; Vasavada, Ashwin R.

    2016-10-01

    Many planetary scientists consider involvement in a robotic spacecraft mission the highlight of their career. We have searched for names of science team members and determined the percentage of women on each team. We have limited the lists to members working at US institutions at the time of selection. We also determined the year each team was selected. The gender of each team member was limited to male and female and based on gender expression. In some cases one of the authors knew the team member and what pronouns they use. In other cases, we based our determinations on the team member's name or photo (obtained via a google search, including institution). Our initial analysis considered 22 NASA planetary science missions over a period of 41 years and only considered NASA-selected PI and Co-Is and not participating scientists, postdocs, or graduate students. We found that there has been a dramatic increase in participation of women on spacecraft science teams since 1974, from 0-2% in the 1970s - 1980s to an average of 14% 2000-present. This, however, is still lower than the recent percentage of women in planetary science, which 3 different surveys found to be ~25%. Here we will present our latest results, which include consideration of participating scientists. As in the case of PIs and Co-Is, we consider only participating scientists working at US institutions at the time of their selection.

  5. [Evaluation of a child protecting team by an independent cooperation partner - suggestions for an optimized procedure].

    Science.gov (United States)

    Verocai, E; Kitzelmann, I; Juen, F; Simma, B

    2013-07-01

    Cooperation between different institutions in cases of child abuse is essential for the children and their families. The aim of this study is to evaluate the cooperation between the Child Protection Team (CPT) and the Youth Welfare Agency (YWF) in an academic teaching hospital. Is the child or the family already be known to the YWF? Was the suspicion of child abuse confirmed by the CPT? What impact did the CPT's report to the YWF have on the situation of the children, their families, and the members of the YWF?Between 1999 and 2009 196 cases were investigated by the CPT; 80 of them had been reported to the YWF. In 45 of the 80 cases, structured interviews were completed by the YWF social workers. In the remaining 35, the questionnaires were not fully completed (n=15), the responsible social workers not present (n=6), or data were not available due to change of -residence (n=14).Maltreatment was suspected in 21/45 (47%), child abuse in 7 (16%), child neglect in 12 (26%), and a combination of the above in 5 (11%) children. Of the children, 26/45 (58%) were already known to the YWF before being contacted by the CPT, and in 34/45 (75%) children either institutions reported the case to the criminal prosecution authorities. Positive changes were seen in 35/45 (78%) children and in 19/45 (42%) families and the CPT's report was considered helpful for the social workers in 41/45 (91%) children.A CPT is able to correctly identify new cases of child abuse. The activity of the CPT has a positive influence on the situation of affected children, their families, and the respective staff members of the YWF. © Georg Thieme Verlag KG Stuttgart · New York.

  6. Towards Human-Robot Teams : Model-Based Analysis of Human Decision Making in Two-Alternative Choice Tasks With Social Feedback

    NARCIS (Netherlands)

    Stewart, Andrew; Cao, Ming; Nedic, Andrea; Tomlin, Damon; Leonard, Naomi Ehrich

    2012-01-01

    With a principled methodology for systematic design of human-robot decision-making teams as a motivating goal, we seek an analytic, model-based description of the influence of team and network design parameters on decision-making performance. Given that there are few reliably predictive models of hu

  7. Towards Human–Robot Teams : Model-Based Analysis of Human Decision Making in Two-Alternative Choice Tasks With Social Feedback

    NARCIS (Netherlands)

    Stewart, Andrew; Cao, Ming; Nedic, Andrea; Tomlin, Damon; Ehrich Leonard, Naomi

    2012-01-01

    With a principled methodology for systematic design of human–robot decision-making teams as a motivating goal, we seek an analytic, model-based description of the influence of team and network design parameters on decision-making performance. Given that there are few reliably predictive models of hu

  8. Amsterdam Oxford Joint Rescue Forces: Team description paper: Virtual Robot competition: Rescue Simulation League: RoboCup 2010 and Iran Open

    NARCIS (Netherlands)

    A. Visser; Q. Nguyen; B. Terwijn; M. Hueting; R. Jurriaans; M. van der Veen; O. Formsma; N. Dijkshoorn; S. van Noort; R. Sobolewski; H. Flynn; M. Jankowska; S. Rath; J. de Hoog

    2010-01-01

    With the progress made in active exploration, the robots of the Joint Rescue Forces are capable of making deliberative decisions about the distribution of exploration locations over the team. Experiments have been done which include information exchange between team-members at rendez-vous points. La

  9. Impact of Robotic Surgery on Decision Making: Perspectives of Surgical Teams.

    Science.gov (United States)

    Randell, Rebecca; Alvarado, Natasha; Honey, Stephanie; Greenhalgh, Joanne; Gardner, Peter; Gill, Arron; Jayne, David; Kotze, Alwyn; Pearman, Alan; Dowding, Dawn

    2015-01-01

    There has been rapid growth in the purchase of surgical robots in both North America and Europe in recent years. Whilst this technology promises many benefits for patients, the introduction of such a complex interactive system into healthcare practice often results in unintended consequences that are difficult to predict. Decision making by surgeons during an operation is affected by variables including tactile perception, visual perception, motor skill, and instrument complexity, all of which are changed by robotic surgery, yet the impact of robotic surgery on decision making has not been previously studied. Drawing on the approach of realist evaluation, we conducted a multi-site interview study across nine hospitals, interviewing 44 operating room personnel with experience of robotic surgery to gather their perspectives on how robotic surgery impacts surgeon decision making. The findings reveal both potential benefits and challenges of robotic surgery for decision making.

  10. Movement Coordination in Human-Robot Teams: A Dynamical Systems Approach

    OpenAIRE

    Iqbal, Tariq; Rack, Samantha; Riek, Laurel D.

    2016-01-01

    In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in real-time, anticipate future actions, and synthesize their own motion accordingly. We explore this within the context of joint action, where humans and robots move together synchronously. In this paper, we present an anticipation method which takes high-level gr...

  11. Enhanced bandwidth of a microstrip antenna using a parasitic mushroom-like metamaterial structure for multi-robot cooperative navigation

    Science.gov (United States)

    Lee, Cherl-Hee; Lee, Jonghun; Kim, Yoon-Gu; An, Jinung

    2015-01-01

    The broadband design of a microstrip patch antenna is presented and experimentally studied for multi-robot cooperation. A parasitic mushroom-like metamaterial (MTM) patch close to a microstrip top patch is excited through gap-coupling, thereby producing a resonance frequency. Because of the design, the resonance frequency of the parasitic MTM patch is adjacent to that of the main patch, and the presented antenna can achieve an enhanced bandwidth of 450 MHz, which is about two times the bandwidth of a conventional patch antenna without the MTM parasitic patch. The error rate of packet transmissions for measuring the distance between a leader robot and a follower robot was also improved by almost two-fold.

  12. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. R and D on robot system cooperating and coexisting with human beings; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating with human beings and executing complicated operations in a human working/living space. This paper describes the fiscal 2000 results. Development of robot motion library was continued for extended task for providing services to people in care houses for the aged controlling motions of the humanoid robot. A basic design for a personal service system by the humanoid robot was conducted with the aim of nursing assistance and for the objective of developing a portable terminal type tele-operation device. A public and a home cockpit were researched with the purpose of developing user interfaces for telexistence control. A dynamic simulator for humanoid robots was built, with motions of standing-up and walking examined, in order to develop basic theories for the dual-handed tasks aided by the leg-arm cooperative motion. To develop a robot that properly and safely cooperates and coexists with the human beings, it is essential to obtain a dynamically reasonable and natural control law, so that the basic studies were conducted in this direction. With the purpose of developing a motion capture and learning system, a virtual robot platform and an information acquiring interface were developed. Studies were also conducted on modeling technique for achieving realistic material properties from high-precision image synthesis and actual images. (NEDO)

  13. Cooperation within physician-nurse team in occupational medicine service in Poland - Knowledge about professional activities performed by the team-partner.

    Science.gov (United States)

    Sakowski, Piotr

    2015-01-01

    The goal of the study has been to learn about physicians' and nurses' awareness of the professional activities that are being performed by their colleague in the physician-nurse team. Postal questionnaires were sent out to occupational physicians and nurses in Poland. The analysis includes responses from 232 pairs of physician-nurse teams. The knowledge among occupational professionals about tasks performed by their colleagues in the physician-nurse team seems to be poor. Respondents were asked about who performs tasks from each of 21 groups mentioned in the Occupational Medicine Service Act. In the case of only 3 out of 21 groups of tasks, the rate of non-consistence in answers was lower than 30%. A specified number of professionals performed their tasks on the individual basis. Although in many cases their team colleagues knew about those activities, there was a major proportion of those who had no awareness of such actions. Polish occupational physicians and nurses perform a variety of tasks. Occupational nurses, besides medical role, also play important organizational roles in their units. The cooperation between the two professional groups is, however, slightly disturbed by the deficits in communication. This issue needs to be improved for the betterment of operations within the whole system. This work is available in Open Access model and licensed under a CC BY-NC 3.0 PL license.

  14. Cooperation within physician–nurse team in occupational medicine service in Poland – Knowledge about professional activities performed by the team-partner

    Directory of Open Access Journals (Sweden)

    Piotr Sakowski

    2015-10-01

    Full Text Available Background: The goal of the study has been to learn about physicians’ and nurses’ awareness of the professional activities that are being performed by their colleague in the physician–nurse team. Material and Methods: Postal questionnaires were sent out to occupational physicians and nurses in Poland. The analysis includes responses from 232 pairs of physician–nurse teams. Results: The knowledge among occupational professionals about tasks performed by their colleagues in the physician–nurse team seems to be poor. Respondents were asked about who performs tasks from each of 21 groups mentioned in the Occupational Medicine Service Act. In the case of only 3 out of 21 groups of tasks, the rate of non-consistence in answers was lower than 30%. A specified number of professionals performed their tasks on the individual basis. Although in many cases their team colleagues knew about those activities, there was a major proportion of those who had no awareness of such actions. Conclusions: Polish occupational physicians and nurses perform a variety of tasks. Occupational nurses, besides medical role, also play important organizational roles in their units. The cooperation between the two professional groups is, however, slightly disturbed by the deficits in communication. This issue needs to be improved for the betterment of operations within the whole system. Med Pr 2015;66(5:625–633

  15. GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

    Science.gov (United States)

    Jankovic, Marko; Paul, Jan; Kirchner, Frank

    2016-04-01

    Recent studies of the space debris population in low Earth orbit (LEO) have concluded that certain regions have already reached a critical density of objects. This will eventually lead to a cascading process called the Kessler syndrome. The time may have come to seriously consider active debris removal (ADR) missions as the only viable way of preserving the space environment for future generations. Among all objects in the current environment, the SL-8 (Kosmos 3M second stages) rocket bodies (R/Bs) are some of the most suitable targets for future robotic ADR missions. However, to date, an autonomous relative navigation to and capture of an non-cooperative target has never been performed. Therefore, there is a need for more advanced, autonomous and modular systems that can cope with uncontrolled, tumbling objects. The guidance, navigation and control (GNC) system is one of the most critical ones. The main objective of this paper is to present a preliminary concept of a modular GNC architecture that should enable a safe and fuel-efficient capture of a known but uncooperative target, such as Kosmos 3M R/B. In particular, the concept was developed having in mind the most critical part of an ADR mission, i.e. close range proximity operations, and state of the art algorithms in the field of autonomous rendezvous and docking. In the end, a brief description of the hardware in the loop (HIL) testing facility is made, foreseen for the practical evaluation of the developed architecture.

  16. [Enhancement of quality by employing qualification-oriented staff and team-oriented cooperation].

    Science.gov (United States)

    Meyenburg-Altwarg, Iris; Tecklenburg, Andreas

    2010-01-01

    Taking three practical examples from a university hospital the present article describes how quality can be improved by linking deployment of qualification-oriented staff with team-oriented cooperation, especially with regard to the professional groups of physicians and nurses. In the first example, a cross-professional work group defined tasks which--in a legally acceptable manner--allow selected activities to be transferred from physicians to nurses, improving the work processes of all persons concerned. Work and duty profiles, training and modified work processes were created and implemented according to the PDCA circle-based process. The first evaluation took place after nine months using interviews, questionnaires (patients, physicians, and nurses) as well as CIRS. In the second example, emphasis was placed on offers of supplementary services for private patients resulting in a lightening of the workload on the nursing staff. These supplementary services are intended to enhance the wellbeing of the patients. Special external-service staff provide high standard hotel services. These services consistently receive high ratings from the patients. The methods used for introduction and evaluation are analogous to those used in the first example. The third example is concerned with the extension of nursing care and patient empowerment beyond the boundaries of ward and hospital. The guidelines were the implementation of the national expert standard for discharge management according to the DNQP. The methods of introduction were analogous to those used in example 1. For the evaluation interviews were conducted with all participating groups. In all examples actual quantitative measures (key ratios) are not yet available; however, the data collected from the interviews and questionnaires of all the participants are promising.

  17. Judgments about Cooperators and Freeriders on a Shuar Work Team: An Evolutionary Psychological Perspective

    Science.gov (United States)

    Price, Michael E.

    2006-01-01

    Evolutionary biological theories of group cooperation predict that (1) group members will tend to judge cooperative co-members favorably, and freeriding co-members negatively and (2) members who themselves cooperate more frequently will be especially likely to make these social judgments. An experiment tested these predictions among Shuar…

  18. MARS: An Educational Environment for Multiagent Robot Simulations

    Directory of Open Access Journals (Sweden)

    Marco Casini

    2016-01-01

    Full Text Available Undergraduate robotics students often find it difficult to design and validate control algorithms for teams of mobile robots. This is mainly due to two reasons. First, very rarely, educational laboratories are equipped with large teams of robots, which are usually expensive, bulky, and difficult to manage and maintain. Second, robotics simulators often require students to spend much time to learn their use and functionalities. For this purpose, a simulator of multiagent mobile robots named MARS has been developed within the Matlab environment, with the aim of helping students to simulate a wide variety of control algorithms in an easy way and without spending time for understanding a new language. Through this facility, the user is able to simulate multirobot teams performing different tasks, from cooperative to competitive ones, by using both centralized and distributed controllers. Virtual sensors are provided to simulate real devices. A graphical user interface allows students to monitor the robots behaviour through an online animation.

  19. 协作多机器人系统研究进展综述%A survey of recent advances in cooperative multi-robot systems

    Institute of Scientific and Technical Information of China (English)

    吴军; 徐昕; 连传强; 贺汉根

    2011-01-01

    Cooperative multi-robot systems have been a particularly popular topic within robotics because of their potential applications. To meet the demand of promoting relevant study, the current research and development situation of cooperative multi-robot systems were systematically reviewed and summarized. Research concerning the unconscious bionic swarm-cooperation multi-robot and the heterogeneous intentional-cooperation multi-robot was discussed. In particular, to build and optimize heterogeneous intentional-cooperation multi-robot systems. the recent advances in system structure, environment perception. and control optimization were surveyed and analyzed. Moreover, the benchmark tasks and universal software/hardware platforms for a multi-robot were summarized. Finally,future developments in cooperative multi-robot system research were discussed.%协作多机器人系统是近年来机器人研究的热点,具有良好的应用前景.针对开展相关研究的迫切需要,总结了协作多机器人系统研究的国内外发展现状,并分别对无意识协作的仿生多机器人系统和有意识协作的异构多机器人系统研究进行论述.重点从系统构建和优化控制的宏观角度出发,对有意识协作异构多机器人系统的体系结构、环境感知以及优化控制3个方面的研究进展分别展开论述;对典型的多机器人验证任务和软硬件实验平台进行了总结;最后对协作多机器人系统的研究方向进行了展望.

  20. Research on multirobot pursuit task allocation algorithm based on emotional cooperation factor.

    Science.gov (United States)

    Fang, Baofu; Chen, Lu; Wang, Hao; Dai, Shuanglu; Zhong, Qiubo

    2014-01-01

    Multirobot task allocation is a hot issue in the field of robot research. A new emotional model is used with the self-interested robot, which gives a new way to measure self-interested robots' individual cooperative willingness in the problem of multirobot task allocation. Emotional cooperation factor is introduced into self-interested robot; it is updated based on emotional attenuation and external stimuli. Then a multirobot pursuit task allocation algorithm is proposed, which is based on emotional cooperation factor. Combined with the two-step auction algorithm recruiting team leaders and team collaborators, set up pursuit teams, and finally use certain strategies to complete the pursuit task. In order to verify the effectiveness of this algorithm, some comparing experiments have been done with the instantaneous greedy optimal auction algorithm; the results of experiments show that the total pursuit time and total team revenue can be optimized by using this algorithm.

  1. Research on decision system model of Robocup3D robotics team%Robocup3D仿真机器人球队决策系统模型研究

    Institute of Scientific and Technical Information of China (English)

    李龙澍; 方园

    2015-01-01

    基于RoboCup3D仿真机器人足球最新平台,以缩短机器人的个体决策时间、快速收敛球队队形并统一个体决策与全队决策为目的,构建了球队层次化的决策系统模型。在此模型下具体实现了全队的阵形控制、角色位置分配和协作配合。基于矩阵最小调整的思想,实现了一个全局最优且比当前现有算法耗时更少的角色分配算法,为球队的阵形控制提供了最优分配方案。结合对比实验,最终结果显示该模型和算法大幅度减少了机器人的决策时间,球队整体同步性、队形收敛速度提高,机器人之间碰撞次数减少,球队整体作战能力提升。%In order to reduce the decision time of robots, speed up the formation convergence as well as unify the individual decision and the team decision, a hierarchical model of team decision system is built based on the latest RoboCup3D simu-lation platform. It supports a specific framework to realize the lineup control, role assignment and cooperation. Based on the method of adjusting matrix minimally each time, a global optimal role assignment algorithm, which is provided for robot individual decision and costlier than previous algorithms, is implemented. By comparative experiments, the final results show that the decision time of robots is much reduced, the unification of team decision and the convergence speed of for-mation are all improved, the collisions between the robots are also reduced, finally the combat capability of robot team is significantly improved.

  2. Mathematical Modeling and Analysis of Multirobot Cooperative Hunting Behaviors

    Directory of Open Access Journals (Sweden)

    Yong Song

    2015-01-01

    Full Text Available This paper presents a mathematical model of multirobot cooperative hunting behavior. Multiple robots try to search for and surround a prey. When a robot detects a prey it forms a following team. When another “searching” robot detects the same prey, the robots form a new following team. Until four robots have detected the same prey, the prey disappears from the simulation and the robots return to searching for other prey. If a following team fails to be joined by another robot within a certain time limit the team is disbanded and the robots return to searching state. The mathematical model is formulated by a set of rate equations. The evolution of robot collective hunting behaviors represents the transition between different states of robots. The complex collective hunting behavior emerges through local interaction. The paper presents numerical solutions to normalized versions of the model equations and provides both a steady state and a collaboration ratio analysis. The value of the delay time is shown through mathematical modeling to be a strong factor in the performance of the system as well as the relative numbers of the searching robots and the prey.

  3. Behavioral Dynamics in the Cooperative Control of Mixed Human/Robotic Teams

    Science.gov (United States)

    2015-01-05

    mediated communication, human/machine parity 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF PAGES 19a. NAME OF...the grant are (i) decision modeling, (ii) action- mediated communication, and (iii) task partitioning. Progress on all three of these has 2007 MURI...Baillieul et al. mediated control using new concepts in what has been called control communication complexity. In his seminal paper, “Control

  4. Robotic Precursor Missions for Mars Habitats

    Science.gov (United States)

    Huntsberger, Terry; Pirjanian, Paolo; Schenker, Paul S.; Trebi-Ollennu, Ashitey; Das, Hari; Joshi, Sajay

    2000-07-01

    Infrastructure support for robotic colonies, manned Mars habitat, and/or robotic exploration of planetary surfaces will need to rely on the field deployment of multiple robust robots. This support includes such tasks as the deployment and servicing of power systems and ISRU generators, construction of beaconed roadways, and the site preparation and deployment of manned habitat modules. The current level of autonomy of planetary rovers such as Sojourner will need to be greatly enhanced for these types of operations. In addition, single robotic platforms will not be capable of complicated construction scenarios. Precursor robotic missions to Mars that involve teams of multiple cooperating robots to accomplish some of these tasks is a cost effective solution to the possible long timeline necessary for the deployment of a manned habitat. Ongoing work at JPL under the Mars Outpost Program in the area of robot colonies is investigating many of the technology developments necessary for such an ambitious undertaking. Some of the issues that are being addressed include behavior-based control systems for multiple cooperating robots (CAMPOUT), development of autonomous robotic systems for the rescue/repair of trapped or disabled robots, and the design and development of robotic platforms for construction tasks such as material transport and surface clearing.

  5. Cooperative Wall-climbing Robots in 3D Environments for Surveillance and Target Tracking

    Science.gov (United States)

    2009-02-08

    Unlike the traditional climbing robots using magnetic devices and vacuum suction techniques , and some recent novel climbing robots of vortex...a low pressure zone enclosed by a chamber. Since the City-Climber robots don’t require perfect sealing as the vacuum suction technique does, the...Mosaics”, IEEE Workshop on Three- Dimensional Cinematography (3DCINE󈧊), June 22, New York City (in conjunction with CVPR). 23. Zhigang Zhu, Hao Tang

  6. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. Development of energy conservation technology; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    Introduction of a number of robots and consumption of a large amount of energy are unavoidable if a complicated process operation is to be carried out by robots in an extensive work site. Great energy conservation is contrived by developing robots applicable to manufacturing in performing a variety of operations in place of human beings and thereby reducing the number of robots to work. This paper explains the fiscal 2000 results. For dual-handed cooperative tasks, a function was examined capable of gripping an object without giving a humanoid robot an instruction of an exact gripping position. A method was designed to prepare a command for the other arm through a command for one arm, with torque impedance control employed for the purpose of avoiding damage due to collision. A study was conducted on a three-dimensional shape detecting model using a visual device of a robot. In grasping problems of balance control of a humanoid robot, the behavior of a robot consisting of multi-links was considered as behavior of inverted pendulum, with possibility checked for the stabilization of the balance. For the purpose of putting the virtual robot platform previously developed to practical use, a three-dimensional operation tool of run-time user interface was developed, with research conducted on the sophistication of robot application. (NEDO)

  7. Team collaboration in Dutch paediatric rehabilitation. Cooperation between parents, rehabilitation professionals and

    NARCIS (Netherlands)

    Nijhuis, Bianca Gertruda Johanna

    2007-01-01

    This thesis describes the collaborative processes in Dutch paediatric teams engaged in the care for children with cerebral palsy (CP). The three main stakeholder groups in these teams are the parents and the professionals in child rehabilitation and special education. Although the need for close col

  8. Action Learning, Team Learning and Co-Operation in the Czech Republic

    Science.gov (United States)

    Kubatova, Slava

    2012-01-01

    This account of practice presents two cases of the application of Action Learning (AL) communication methodology as described by Marquardt [2004. "Optimising the power of action learning". Mountain View, CA: Davies-Black Publishing]. The teams were Czech and international top management teams. The AL methodology was used to improve…

  9. Cooperative Learning and Peer Evaluation: The Effect of Free Riders on Team Performance and the Relationship between Course Performance and Peer Evaluation

    Science.gov (United States)

    Dingel, Molly J.; Wei, Wei; Huq, Aminul

    2013-01-01

    Cooperative learning has gained popularity in higher educational settings. However, assigning grades equitably to all team members in a way that rewards them for their contributions remains challenging. In this paper, we ask whether having free riders on a team lowers the quality of submitted work, and whether students' course performance…

  10. [Robotics].

    Science.gov (United States)

    Bier, J

    2000-05-01

    Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

  11. Real-time Cooperative Behavior for Tactical Mobile Robot Teams: Skills Impact Study for Tactical Mobile Robot Operational Units

    Science.gov (United States)

    2000-11-01

    University of Stuttgart (http://inf.informatik.uni- stuttgart.de/ipvr/vs/ projekte /nexus/), the Future Computing Environments and Wearables groups at...is argu- able whether any significant advantage is gained by not using the same cable route to convey sig- nal information. This is especially true...with a joystick when following a marked route . The ability to form a mental map (survey knowledge) and alternate route planning was better with the

  12. The Delta Cooperative Model: a Dynamic and Innovative Team-Work Activity to Develop Research Skills in Microbiology

    Directory of Open Access Journals (Sweden)

    Carlos Rios-Velazquez

    2009-12-01

    Full Text Available The Delta Cooperative Model (DCM is a dynamic and innovative teamwork design created to develop fundamentals in research skills. High school students in the DCM belong to the Upward Bound Science and Math (UBSM program at the Inter American University, Ponce Campus. After workshops on using the scientific method, students were organized into groups of three students with similar research interests. Each student had to take on a role within the group as either a researcher, data analyst, or research editor. Initially, each research team developed hypothesis-driven ideas on their proposed project. In intrateam research meetings, they emphasized team-specific tasks. Next, interteam meetings were held to present ideas and receive critical input. Finally, oral and poster research presentations were conducted at the UBSM science fair. Several team research projects covered topics in medical, environmental, and general microbiology. The three major assessment areas for the workshop and DCM included: (i student’s perception of the workshops’ effectiveness in developing skills, content, and values; (ii research team self- and group participation evaluation, and (iii oral and poster presentation during the science fair. More than 91% of the students considered the workshops effective in the presentation of scientific method fundamentals. The combination of the workshop and the DCM increased student’s knowledge by 55% from pre- to posttests. Two rubrics were designed to assess the oral presentation and poster set-up. The poster and oral presentation scores averaged 83%and 75%respectively. Finally, we present a team assessment instrument that allows the self- and group evaluation of each research team. While the DCM has educational plasticity and versatility, here we document how this model has been successfully incorporated in training and engaging students in scientific research in microbiology.

  13. The delta cooperative model: a dynamic and innovative team-work activity to develop research skills in microbiology.

    Science.gov (United States)

    Rios-Velazquez, Carlos; Robles-Suarez, Reynaldo; Gonzalez-Negron, Alberto J; Baez-Santos, Ivan

    2006-05-01

    The Delta Cooperative Model (DCM) is a dynamic and innovative teamwork design created to develop fundamentals in research skills. High school students in the DCM belong to the Upward Bound Science and Math (UBSM) program at the Inter American University, Ponce Campus. After workshops on using the scientific method, students were organized into groups of three students with similar research interests. Each student had to take on a role within the group as either a researcher, data analyst, or research editor. Initially, each research team developed hypothesis-driven ideas on their proposed project. In intrateam research meetings, they emphasized team-specific tasks. Next, interteam meetings were held to present ideas and receive critical input. Finally, oral and poster research presentations were conducted at the UBSM science fair. Several team research projects covered topics in medical, environmental, and general microbiology. The three major assessment areas for the workshop and DCM included: (i) student's perception of the workshops' effectiveness in developing skills, content, and values; (ii) research team self- and group participation evaluation, and (iii) oral and poster presentation during the science fair. More than 91% of the students considered the workshops effective in the presentation of scientific method fundamentals. The combination of the workshop and the DCM increased student's knowledge by 55% from pre- to posttests. Two rubrics were designed to assess the oral presentation and poster set-up. The poster and oral presentation scores averaged 83% and 75% respectively. Finally, we present a team assessment instrument that allows the self- and group evaluation of each research team. While the DCM has educational plasticity and versatility, here we document how the this model has been successfully incorporated in training and engaging students in scientific research in microbiology.

  14. The Delta Cooperative Model: a Dynamic and Innovative Team-Work Activity to Develop Research Skills in Microbiology

    Directory of Open Access Journals (Sweden)

    Ivan Baez-Santos

    2006-12-01

    Full Text Available The Delta Cooperative Model (DCM is a dynamic and innovative teamwork design created to develop fundamentals in research skills. High school students in the DCM belong to the Upward Bound Science and Math (UBSM program at the Inter American University, Ponce Campus. After workshops on using the scientific method, students were organized into groups of three students with similar research interests. Each student had to take on a role within the group as either a researcher, data analyst, or research editor. Initially, each research team developed hypothesis-driven ideas on their proposed project. In intrateam research meetings, they emphasized team-specific tasks. Next, interteam meetings were held to present ideas and receive critical input. Finally, oral and poster research presentations were conducted at the UBSM science fair. Several team research projects covered topics in medical, environmental, and general microbiology. The three major assessment areas for the workshop and DCM included: (i student’s perception of the workshops’ effectiveness in developing skills, content, and values; (ii research team self- and group participation evaluation, and (iii oral and poster presentation during the science fair. More than 91% of the students considered the workshops effective in the presentation of scientific method fundamentals. The combination of the workshop and the DCM increased student’s knowledge by 55% from pre- to posttests. Two rubrics were designed to assess the oral presentation and poster set-up. The poster and oral presentation scores averaged 83%and 75%respectively. Finally, we present a team assessment instrument that allows the self- and group evaluation of each research team. While the DCM has educational plasticity and versatility, here we document how this model has been successfully incorporated in training and engaging students in scientific research in microbiology.

  15. Manufacturing process applications team (MATEAM). [technology transfer in the areas of machine tools and robots

    Science.gov (United States)

    1979-01-01

    The transfer of NASA technology to the industrial sector is reported. Presentations to the machine tool and robot industries and direct technology transfers of the Adams Manipulator arm, a-c motor control, and the bolt tension monitor are discussed. A listing of proposed RTOP programs with strong potential is included. A detailed description of the rotor technology available to industry is given.

  16. Shared mental models of distributed human-robot teams for coordinated disaster responses

    NARCIS (Netherlands)

    Neerincx, M.A.; Greef, T. de; Smets, N.J.J.M.; Sam, M.P.

    2011-01-01

    Shared Mental Models (SSM) are crucial for adequate coordination of activities and resource deployment in disaster responses. Both human and robot are actors in the construction of such models. Based on a situated Cognitive Engineering (sCE) methodology, we identified the needs, functions and

  17. Passivity-based control of robotic manipulators for safe cooperation with humans

    Science.gov (United States)

    Zanchettin, Andrea Maria; Lacevic, Bakir; Rocco, Paolo

    2015-02-01

    This paper presents a novel approach to the control of articulated robots in unstructured environments. The proposed control ensures several properties. First, the controller guarantees the achievement of a goal position without getting stuck in local minima. Then, the controller makes the closed-loop system passive, which renders the approach attractive for applications where the robot needs to safely interact with humans. Finally, the control law is explicitly shaped by the safety measure - the danger field. The proposed control law has been implemented and validated in a realistic experimental scenario, demonstrating the effectiveness in driving the robot to a given configuration in a cluttered environment, without any offline planning phase. Furthermore, the passivity of the system enables the robot to easily accommodate external forces on the tool, when a physical contact between the robot and the environment is established.

  18. Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size

    Directory of Open Access Journals (Sweden)

    Purnomo Sejati

    2016-05-01

    Full Text Available This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is a significant issue to develop effective determination team member for multiple mobile robot object conveyance, few studies have been done on it. Therefore, we propose an algorithm for determining the number of the team member on multiple mobile robot object conveyance with grasping push. The team member is determined based on object weight to obtain appropriate formation. First, the object shape and size measurement is carried out by a surveyor robot that approaches and surrounds the object. During surrounding the object, the surveyor robot measures its distance to the object and records for estimating the object shape and size. Since the object shape and size are estimated, the surveyor robot makes initial push position on the estimated push point and calls additional robots for cooperative push. The algorithm is validated in several computer simulations with varying object shape and size. As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance.

  19. Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements.

    Science.gov (United States)

    Liang, Xinwu; Wang, Hesheng; Liu, Yun-Hui; Chen, Weidong; Hu, Guoqiang; Zhao, Jie

    2016-10-01

    In this paper, the task-space cooperative tracking control problem of networked robotic manipulators without task-space velocity measurements is addressed. To overcome the problem without task-space velocity measurements, a novel task-space position observer is designed to update the estimated task-space position and to simultaneously provide the estimated task-space velocity, based on which an adaptive cooperative tracking controller without task-space velocity measurements is presented by introducing new estimated task-space reference velocity and acceleration. Furthermore, adaptive laws are provided to cope with uncertain kinematics and dynamics and rigorous stability analysis is given to show asymptotical convergence of the task-space tracking and synchronization errors in the presence of communication delays under strongly connected directed graphs. Simulation results are given to demonstrate the performance of the proposed approach.

  20. FY 1998 Report on research and development project. Research and development of human-cooperative/coexisting robot systems; 1998 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    This R and D project is aimed at development of the human-cooperative/coexisting robot systems with high safety and reliability, capable of performing complicated works cooperatively and in a coexisting manner with humans in human working and living spaces, in order to help improve safety and efficiency in various industrial areas, improve services and convenience in manufacturing and service areas, and create new industries. The trend surveys cover humanoid robot systems, remote control systems and simulators, and the application surveys cover services for humans, basic humanoids and entertainment communication. The 1998 R and D efforts include research and development, fabrication and surveys for the following themes; (1) fabrication of robot platforms for supporting manual works, (2) development of surrounded visual display systems, (3) development of robot arm manipulation and force displaying systems, (4) development of a dynamic simulator, (5) development of a distributed software platform, (6) researches and development of computation algorithm for kinematic chain dynamics, (7) development of motion teaching system for multi-functional robots, (8) investigation of trends in robotics technology, and (9) researches and surveys of robot application. (NEDO)

  1. Human-Agent Teaming for Multi-Robot Control: A Literature Review

    Science.gov (United States)

    2013-02-01

    lower-reliability system (i.e., system-wide trust calibration versus. component-specific calibration). Roth et al., (2004) also reported that, in...Frontiers in Human- Robot Interaction. Edinburgh, Scotland , 6–9 April 2009. Dong, X.; Hayes, C. Uncertainty Visualization: Helping Decision...Information Visualization. Reviews of Human Factors and Ergonomics 2009, 5, 41–81. Roth , E.; Hanson, M.; Hopkins, C.; Mancuso, V.; Zacharias, G

  2. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  3. An Improved Reinforcement Learning Algorithm for Cooperative Behaviors of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Yong Song

    2014-01-01

    Full Text Available Reinforcement learning algorithm for multirobot will become very slow when the number of robots is increasing resulting in an exponential increase of state space. A sequential Q-learning based on knowledge sharing is presented. The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning. Mobile robots obtain present environmental state by sensors. Then the state will be matched to determine if the relevant behavior rule has been stored in the database. If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined. Otherwise the new rule will be appended to the database. The robots learn according to a given sequence and share the behavior database. We examine the algorithm by multirobot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed.

  4. [The regional cooperation of medical services and a nutritional support team].

    Science.gov (United States)

    Maruyama, Michio

    2006-12-01

    "Community NST" is a new concept, which means a cooperation system with the hospital NST and a regional medical service. "Community NST" provides home nutritional care for the patients with nutritional problems. The function of the hospital NST for inpatients has been established in recent years. Now the patients need a continuous nutritional care not only in the hospital but at home. Percutaneous endoscopic gastrostomy (PEG) has been performed on the base of cooperation with the hospital and home care. This PEG system is one of the functions of "Community NST". The author showed several measures of "Community NST", which have been tried in the hospital.

  5. DIFFERENT DIMENSIONS OF TEAMS

    Directory of Open Access Journals (Sweden)

    Goparaju Purna SUDHAKAR

    2014-01-01

    Full Text Available Popularity ofteams is growing in 21st Century. Organizations are getting theirwork done through different types of teams. Teams have proved that thecollective performance is more than the sum of the individual performances.Thus, the teams have got different dimensions such as quantitative dimensionsand qualitative dimensions. The Quantitative dimensions of teams such as teamperformance, team productivity, team innovation, team effectiveness, teamefficiency, team decision making and team conflicts and Qualitative dimensionsof teams such as team communication, team coordination, team cooperation, teamcohesion, team climate, team creativity, team leadership and team conflictshave been discussed in this article.

  6. Solidarity through networks : The effects of task and informal interdependence on cooperation within teams

    NARCIS (Netherlands)

    Koster, F.; Stokman, F.N.; Hodson, R.; Sanders, K.

    2007-01-01

    PURPOSE – The aim of this paper is to investigate the effects of task and informal networks and their interaction on cooperative types of employee behaviour. DESIGN/METHODOLOGY/APPROACH – Two studies are used to examine the research question. The first dataset consists of book-length ethnographies

  7. Perceived Influence and Friendship as Antecedents of Cooperation in Top Management Teams: A Network Approach

    Directory of Open Access Journals (Sweden)

    Olaf N. Rank

    2010-10-01

    Full Text Available Using the relational dyad as unit of analysis this study examines the effects of perceived influence and friendship ties on the formation and maintenance of cooperative relationships between corporate top executives. Specifically, it is argued that perceived influence as well as friendship ties between any two managers will enhance the likelihood that these managers collaborate with each other. Additionally, a negative interaction effect between perceived influence and friendship on cooperation is proposed. The empirical analyses draw on network data that have been collected among all members of the top two organizational levels for the strategy-making process in two multinational firms headquartered in Germany. Applying logistic regression based on QAP the empirical results support our hypotheses on the direct effects between perceived influence, friendship ties, and cooperative relationships in both companies. In addition, we find at least partial support for our assumption that perceived influence and friendship interact negatively with respect to their effect on cooperation. Seemingly, perceived influence is partially substituted by managerial friendship ties.

  8. Research on Multirobot Pursuit Task Allocation Algorithm Based on Emotional Cooperation Factor

    Directory of Open Access Journals (Sweden)

    Baofu Fang

    2014-01-01

    Full Text Available Multirobot task allocation is a hot issue in the field of robot research. A new emotional model is used with the self-interested robot, which gives a new way to measure self-interested robots’ individual cooperative willingness in the problem of multirobot task allocation. Emotional cooperation factor is introduced into self-interested robot; it is updated based on emotional attenuation and external stimuli. Then a multirobot pursuit task allocation algorithm is proposed, which is based on emotional cooperation factor. Combined with the two-step auction algorithm recruiting team leaders and team collaborators, set up pursuit teams, and finally use certain strategies to complete the pursuit task. In order to verify the effectiveness of this algorithm, some comparing experiments have been done with the instantaneous greedy optimal auction algorithm; the results of experiments show that the total pursuit time and total team revenue can be optimized by using this algorithm.

  9. Robots

    Institute of Scientific and Technical Information of China (English)

    驷萍

    1997-01-01

    一篇介绍机器人的文章写得如此耐读,如此清新! 首先.我们弄清了robot一词的来历: It was used first in 1920 in a play by Czcchoslovak writer Karel Capek.The wordrobot comes from the Czech word for slave. 上句提供了一个时间:1920。文章接着便抓住这个时间做文章: 且The word robot.and robots themselves are less than 100 years old.But humanshave been dreaming of real and imaginary copies of themselves for thousands of years. 文章就这样写出了波澜,1920年和 thousands of years自然而然构成了强烈对比。1954年和1960s是两个谈及机器人时不得不一提的时间: In 1954,the world’s first robot was produced in the United States. During the 1960s,the first industrial robots appeared beside human workers infactories.下面这句让我们体味到 the Czech word for slave中的 slave不仅言之有理,而且影视和小说里的机器人“造反”,进而 killed the humans who made them的情节也“事出有因”: What do today’s robots do?Robots do work.Work that human consideruninteresting or dangerous.…do many jobs that people consider tiring. 本文将机器人的“功过”放在一起写,笔

  10. Application of Sensor Fusion in Multi-robot Cooperative Localization%传感器融合在多机器人合作定位中的应用

    Institute of Scientific and Technical Information of China (English)

    刘显荣

    2011-01-01

    Robot localization is the premise of other robot research,such as environment explore and motion coordination.Inspired by information fusion ,a novel multi-robot cooperative localization technology is presented, which fuses the robot's multiple sensor data. First, the basic motion form of the two-wheel robot was modeled, and the relative observing formula was built aiming at the ultrasonic sensor. Then filtering and first-level fusion were applied to robots proprioceptive and exteroceptive sensors respectively,by which obtained the robot's proprioceptive location data and relative observing data.Finally, the robot's proprioceptive location data and observing data were fused by extension kalman filter (EKF),and the multi-robot cooperative localization was implemented. Experiment result demonstrates this cooperative localization technology can get the robots to form landmarks for each other,eliminate the accumulate error from encoder,and improve the robot localization accuracy efficiently.%机器人的定位技术是进行机器人环境探索、协调运动研究的前提,从信息融合的思想出发,提出了一种融合多传感器信息的合作定位技术.首先,对两轮机器人的基本运动形式进行建模,并针对超声波传感器建立了机器人之间的相对观测方程.然后,分别对机器人的内、外部传感器进行滤波和第一级融合,得到自身位姿和相对观测信息.最后,利用扩展卡尔曼滤波(EKF)融合机器人的自身位姿和观测信息,实现多机器人的合作定位.实验结果表明,本合作定位能够使机器人之间互为路标,消除码盘定位的累积误差,有效地提高机器人定位精度.

  11. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

    Science.gov (United States)

    Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M.; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T.J.

    2010-01-01

    In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted. PMID:22294927

  12. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

    Directory of Open Access Journals (Sweden)

    Aníbal Ollero

    2010-03-01

    Full Text Available In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites, a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

  13. [Simulator-based modular human factor training in anesthesiology. Concept and results of the module "Communication and Team Cooperation"].

    Science.gov (United States)

    St Pierre, M; Hofinger, G; Buerschaper, C; Grapengeter, M; Harms, H; Breuer, G; Schüttler, J

    2004-02-01

    Human factors (HF) play a major role in crisis development and management and simulator training can help to train HF aspects. We developed a modular training concept with psychological intensive briefing. The aim of the study was to see whether learning and transfer in the treatment group (TG) with the module "communication and team-cooperation" differed from that in the control group (CG) without psychological briefing ("anaesthesia crisis resource management type course"). A total of 34 residents (TG: n=20, CG: n=14) managed 1 out of 3 scenarios and communication patterns and management were evaluated using video recordings. A questionnaire was answered at the end of the course and 2 months later participants were asked for lessons learnt and behavioral changes. Good communication and medical management showed a significant correlation (r=0.57, p=0.001). The TG showed greater initiative ( p=0.001) and came more often in conflict with the surgeon ( p=0.06). The TG also reported more behavioral changes than the CG 2 months later. The reported benefit of the simulation was training for rare events in the CG, whereas in the TG it was issues of communication and cooperation ( p=0.001). A training concept with psychological intensive briefing may enhance the transfer of HF aspects more than classical ACRM.

  14. A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments

    Directory of Open Access Journals (Sweden)

    Rafael J. Martínez

    2011-04-01

    Full Text Available The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating a network oriented device server Player, Java Agent Development Framework (JADE and High Level Architecture (HLA, the previous concepts have been considered in the new architecture presented in this paper. HLA can be considered the most important part because it not only allows the data distribution and implicit communication among the parts of the system but also allows to simultaneously operate with simulated and real entities, thus allowing the use of hybrid systems in the development of applications.

  15. A new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications with real and simulated devices or environments.

    Science.gov (United States)

    Nebot, Patricio; Torres-Sospedra, Joaquín; Martínez, Rafael J

    2011-01-01

    The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating a network oriented device server Player, Java Agent Development Framework (JADE) and High Level Architecture (HLA), the previous concepts have been considered in the new architecture presented in this paper. HLA can be considered the most important part because it not only allows the data distribution and implicit communication among the parts of the system but also allows to simultaneously operate with simulated and real entities, thus allowing the use of hybrid systems in the development of applications.

  16. Multiple-robot drug delivery strategy through coordinated teams of microswimmers

    Energy Technology Data Exchange (ETDEWEB)

    Kei Cheang, U; Kim, Min Jun, E-mail: mkim@coe.drexel.edu [Department of Mechanical Engineering and Mechanics, Drexel University, Philadelphia, Pennsylvania 19104 (United States); Lee, Kyoungwoo [Department of Computer Science, Yonsei University, Seoul 120-749 (Korea, Republic of); Julius, Anak Agung [Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, New York 12180 (United States)

    2014-08-25

    Untethered robotic microswimmers are very promising to significantly improve various types of minimally invasive surgeries by offering high accuracy at extremely small scales. A prime example is drug delivery, for which a large number of microswimmers is required to deliver sufficient dosages to target sites. For this reason, the controllability of groups of microswimmers is essential. In this paper, we demonstrate simultaneous control of multiple geometrically similar but magnetically different microswimmers using a single global rotating magnetic field. By exploiting the differences in their magnetic properties, we triggered different swimming behaviors from the microswimmers by controlling the frequency and the strength of the global field, for example, one swim and the other does not while exposed to the same control input. Our results show that the balance between the applied magnetic torque and the hydrodynamic torque can be exploited for simultaneous control of two microswimmers to swim in opposite directions, with different velocities, and with similar velocities. This work will serve to establish important concepts for future developments of control systems to manipulate multiple magnetically actuated microswimmers and a step towards using swarms of microswimmers as viable workforces for complex operations.

  17. Behavior selection strategy for soccer robots

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The soccer robot system and the effective multi-agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low-level component of the robot control system necessary to move the robots on the playground. Each action controller determines the linear and angular velocity commands of the robots corre sponding to its own purpose. The behavior is the high-level component of the robot control system composed of necessary action sequences. Each behavior module determines the desired action sequences and action com mands corresponding to its own objective. The behavior selector considering the information that comes from the vision system selects the behavior of each robot every sampling time. Thus, the behavior of each robot is changed dynamically. The presented strategy is successfully applied to the MASKARO team and the team is ranked in the first place in the 2000 FIRA Korea-Cup K-League.

  18. Weight-Perception-Based Novel Control of a Power-Assist Robot for the Cooperative Lifting of Light-Weight Objects

    Directory of Open Access Journals (Sweden)

    S. M. Mizanoor Rahman

    2012-10-01

    Full Text Available We developed a 1‐DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power‐assist because the perceived weight differs from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We analyzed human features such as weight perception, load forces, motions etc. We found that the robot reduced the perceived weights to 25% of the actual weights, and the load forces were 8 times larger than the actual requirements. The excessive load forces resulted in excessive accelerations that jeopardized the performances. We then implemented a novel control based on the human features, which was such that a virtual mass exponentially declined from a large value to a small one when subjects lifted objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations and thus enhanced performances in terms of maneuverability, safety etc. The findings may be used to develop power assist robots for manipulating heavy objects in industries that may augment human’s abilities and skills and may improve interactions between robots and users.

  19. Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm

    Science.gov (United States)

    Wen, Zhuoman; Wang, Yanjie; Luo, Jun; Kuijper, Arjan; Di, Nan; Jin, Minghe

    2017-07-01

    When a space robotic arm deploys a payload, usually the pose between the cooperative target fixed on the payload and the hand-eye camera installed on the arm is calculated in real-time. A high-precision robust visual cooperative target localization method is proposed. Combing a circle, a line and dots as markers, a target that guarantees high detection rates is designed. Given an image, single-pixel-width smooth edges are drawn by a novel linking method. Circles are then quickly extracted using isophotes curvature. Around each circle, a square boundary in a pre-calculated proportion to the circle radius is set. In the boundary, the target is identified if certain numbers of lines exist. Based on the circle, the lines, and the target foreground and background intensities, markers are localized. Finally, the target pose is calculated by the Point-3-Perspective algorithm. The algorithm processes 8 frames per second with the target distance ranging from 0.3m to 1.5 m. It generated high-precision poses of above 97.5% on over 100,000 images regardless of camera background, target pose, illumination and motion blur. At 0.3 m, the rotation and translation errors were less than 0.015° and 0.2 mm. The proposed algorithm is very suitable for real-time visual measurement that requires high precision in aerospace.

  20. Can we get some cooperation around here? The mediating role of group norms on the relationship between team personality and individual helping behaviors.

    Science.gov (United States)

    Gonzalez-Mulé, Erik; DeGeest, David S; McCormick, Brian W; Seong, Jee Young; Brown, Kenneth G

    2014-09-01

    Drawing on the group-norms theory of organizational citizenship behaviors and person-environment fit theory, we introduce and test a multilevel model of the effects of additive and dispersion composition models of team members' personality characteristics on group norms and individual helping behaviors. Our model was tested using regression and random coefficients modeling on 102 research and development teams. Results indicated that high mean levels of extraversion are positively related to individual helping behaviors through the mediating effect of cooperative group norms. Further, low variance on agreeableness (supplementary fit) and high variance on extraversion (complementary fit) promote the enactment of individual helping behaviors, but only the effects of extraversion were mediated by cooperative group norms. Implications of these findings for theories of helping behaviors in teams are discussed. PsycINFO Database Record (c) 2014 APA, all rights reserved.

  1. Robotic surgery in gynecology.

    Science.gov (United States)

    Alkatout, Ibrahim; Mettler, Liselotte; Maass, Nicolai; Ackermann, Johannes

    2016-01-01

    Robotic surgery is the most dynamic development in the sector of minimally invasive operations currently. It should not be viewed as an alternative to laparoscopy, but as the next step in a process of technological evolution. The advancement of robotic surgery, in terms of the introduction of the Da Vinci Xi, permits the variable use of optical devices in all four trocars. Due to the new geometry of the "patient cart," an operation can be performed in all spatial directions without re-docking. Longer instruments and the markedly narrower mechanical elements of the "patient cart" provide greater flexibility as well as access similar to those of traditional laparoscopy. Currently, robotic surgery is used for a variety of indications in the treatment of benign gynecological diseases as well as malignant ones. Interdisciplinary cooperation and cooperation over large geographical distances have been rendered possible by telemedicine, and will ensure comprehensive patient care in the future by highly specialized surgery teams. In addition, the second operation console and the operation simulator constitute a new dimension in advanced surgical training. The disadvantages of robotic surgery remain the high costs of acquisition and maintenance as well as the laborious training of medical personnel before they are confident with using the technology.

  2. Interaction learning for dynamic movement primitives used in cooperative robotic tasks

    DEFF Research Database (Denmark)

    Kulvicius, Tomas; Biehl, Martin; Aein, Mohamad Javad

    2013-01-01

    Abstract Since several years dynamic movement primitives (DMPs) are more and more getting into the center of interest for flexible movement control in robotics. In this study we introduce sensory feedback together with a predictive learning mechanism which allows tightly coupled dual-agent systems...... to learn an adaptive, sensor-driven interaction based on DMPs. The coupled conventional (no-sensors, no learning) DMP-system automatically equilibrates and can still be solved analytically allowing us to derive conditions for stability. When adding adaptive sensor control we can show that both agents learn...

  3. Interaction learning for dynamic movement primitives used in cooperative robotic tasks

    DEFF Research Database (Denmark)

    Kulvicius, Tomas; Biehl, Martin; Aein, Mohamad Javad;

    2013-01-01

    to learn an adaptive, sensor-driven interaction based on DMPs. The coupled conventional (no-sensors, no learning) DMP-system automatically equilibrates and can still be solved analytically allowing us to derive conditions for stability. When adding adaptive sensor control we can show that both agents learn......Abstract Since several years dynamic movement primitives (DMPs) are more and more getting into the center of interest for flexible movement control in robotics. In this study we introduce sensory feedback together with a predictive learning mechanism which allows tightly coupled dual-agent systems...

  4. The Non-cooperative Game Analysis of Team Conflict%团队冲突的非合作博弈分析

    Institute of Scientific and Technical Information of China (English)

    吴云; 周青

    2012-01-01

    Because of differences between the various team members and team communication barriers and other factors, the team conflict is difficult to be avoided. Some team conflicts are likely to affect team performance, or even prevent the team goals from achieving, so it is significant to research and recognize team conflicts and to identify appropriate measures to solve them. Based on the assumption of rational economic man, the paper makes use of non - cooperative game model to analyze team conflicts and seeks measures to resolve them.%由于团队成员间种种差异,以及团队沟通障碍等因素的存在,团队冲突很难避免.有些团队冲突可能会影响团队绩效,甚至妨碍团队目标的实现,所以认识和研究团队冲突并找出适当的解决措施非常重要.基于理性经济人假设,利用非合作博弈模型分析团队冲突,并寻求团队冲突的化解措施是关键所在.

  5. Comparison of the operative cooperation of da Vinci robotic surgery and traditional laparoscopic surgery%达芬奇机器人手术与传统腔镜手术护理配合的比较与启示

    Institute of Scientific and Technical Information of China (English)

    唐鲁; 李晓芳; 朱国雄; 郭志红; 王飞

    2016-01-01

    目的:通过达芬奇机器人手术与传统腔镜手术护理配合的比较研究,为微创手术护理配合的规范化、专业化发展提供借鉴。方法结合实际操作体会,采取比较研究方法为主,辅以文献研究法。结果与传统腔镜手术相比,达芬奇机器人手术在护士业务素质要求与培训方式、伦理法律知识与人文素养要求、设备的安装调试与前期准备工作、相应的护理内容与侧重、设备故障处理与器械术后管理等方面对手术室护理工作提出了更高的要求。结论达芬奇机器人手术的应用与推广,为精确微创手术配合的改进与发展提供了有益的启示,建议加强护士专项培训与继续教育;建立相应操作流程与管理规范;做好患者的告知解释工作以及发挥手术团队的协作精神。%Objective To compare the operative cooperation of da Vinci robotic surgery and traditional laparoscopic surgery, so as to provide evidence to qualify the operative cooperation of minimally invasive operation. Methods Comparison of the operative cooperation with related experiences and literature was made between the two kinds of surgeries. Results More requirements were put forward during the da Vinci robotic surgery on nurses′ service quality and training methods, ethics & law knowledge and humanistic care, equipment installation and preparation, complicated nursing performance content, system error handling and postoperative management, etc.. Conclusions It is suggested that the operative cooperation of the precise minimally invasive operation should be improved as follows:strengthen the nurses′ special training and continuing education; establish related operation process and management standards;do patients′explanation work and surgical team cooperation.

  6. 多移动机器人的组队规划研究%Planning method for multiple mobile robots form team.

    Institute of Scientific and Technical Information of China (English)

    李强; 刘国栋

    2011-01-01

    研究了多移动机器人在组队时目标点的优化选取与避障控制问题.依据最近距离最大值优先获得目标点的规则,提出建立机器人与目标位置距离矩阵,并对矩阵进行映射分析,使机器人快速准确地确定对应目标点.采用模糊控制理论,依据经验制定模糊规则,使机器人灵活地避开障碍,仿真实验证明了算法的有效性.%This paper studies the target points optimization select and obstacle-avoiding control problem when multiple mo bile robots form a team. According to the rule that maximum from recent target point is priority to get, distance matrix about the robots away from the target location is proposed,and matrix mapping is analyzed,and makes the robots fast and accurate determinating the corresponding target points.Using fuzzy control theory, fuzzy rules are developed based on human experience,the robots avoid obstacles flexiblely. The simulation results show the effectiveness of the algorithm.

  7. Robot initiative in a team learning task increases the rhythm of interaction but not the perceived engagement.

    Science.gov (United States)

    Ivaldi, Serena; Anzalone, Salvatore M; Rousseau, Woody; Sigaud, Olivier; Chetouani, Mohamed

    2014-01-01

    We hypothesize that the initiative of a robot during a collaborative task with a human can influence the pace of interaction, the human response to attention cues, and the perceived engagement. We propose an object learning experiment where the human interacts in a natural way with the humanoid iCub. Through a two-phases scenario, the human teaches the robot about the properties of some objects. We compare the effect of the initiator of the task in the teaching phase (human or robot) on the rhythm of the interaction in the verification phase. We measure the reaction time of the human gaze when responding to attention utterances of the robot. Our experiments show that when the robot is the initiator of the learning task, the pace of interaction is higher and the reaction to attention cues faster. Subjective evaluations suggest that the initiating role of the robot, however, does not affect the perceived engagement. Moreover, subjective and third-person evaluations of the interaction task suggest that the attentive mechanism we implemented in the humanoid robot iCub is able to arouse engagement and make the robot's behavior readable.

  8. Robot initiative in a team learning task increases the rhythm of interaction but not the perceived engagement

    Directory of Open Access Journals (Sweden)

    Serena eIvaldi

    2014-02-01

    Full Text Available We hypothesize that the initiative of a robot during a collaborative task with a human can influence the pace of interaction, the human response to attention cues, and the perceived engagement.We propose an object learning experiment where the human interacts in a natural way with the humanoid iCub. Through a two-phases scenario, the human teaches the robot about the properties of some objects.We compare the effect of the initiator of the task in the teaching phase (human or robot on the rhythm of the interaction in the verification phase. We measure the reaction time of the human gaze when responding to attention utterances of the robot. Our experiments show that when the robot is the initiator of the learning task, the pace of interaction is higher and the reaction to attention cues faster.Subjective evaluations suggest that the initiating role of the robot, however, does not affect the perceived engagement. Moreover, subjective and third-person evaluations of the interaction task suggest that the attentive mechanism we implemented in the humanoid robot iCub is able to arouse engagement and make the robot's behavior readable.

  9. Robot initiative in a team learning task increases the rhythm of interaction but not the perceived engagement

    Science.gov (United States)

    Ivaldi, Serena; Anzalone, Salvatore M.; Rousseau, Woody; Sigaud, Olivier; Chetouani, Mohamed

    2014-01-01

    We hypothesize that the initiative of a robot during a collaborative task with a human can influence the pace of interaction, the human response to attention cues, and the perceived engagement. We propose an object learning experiment where the human interacts in a natural way with the humanoid iCub. Through a two-phases scenario, the human teaches the robot about the properties of some objects. We compare the effect of the initiator of the task in the teaching phase (human or robot) on the rhythm of the interaction in the verification phase. We measure the reaction time of the human gaze when responding to attention utterances of the robot. Our experiments show that when the robot is the initiator of the learning task, the pace of interaction is higher and the reaction to attention cues faster. Subjective evaluations suggest that the initiating role of the robot, however, does not affect the perceived engagement. Moreover, subjective and third-person evaluations of the interaction task suggest that the attentive mechanism we implemented in the humanoid robot iCub is able to arouse engagement and make the robot's behavior readable. PMID:24596554

  10. An Optimization Algorithm with Novel RFA-PSO Cooperative Evolution: Applications to Parameter Decision of a Snake Robot

    Directory of Open Access Journals (Sweden)

    Qin Gao

    2015-01-01

    Full Text Available The success to design a hybrid optimization algorithm depends on how to make full use of the effect of exploration and exploitation carried by agents. To improve the exploration and exploitation property of the agents, we present a hybrid optimization algorithm with both local and global search capabilities by combining the global search property of rain forest algorithm (RFA and the rapid convergence of PSO. Originally two kinds of agents, RFAAs and PSOAs, are introduced to carry out exploration and exploitation, respectively. In order to improve population diversification, uniform distribution and adaptive range division are carried out by RFAAs in flexible scale during the iteration. A further improvement has been provided to enhance the convergence rate and processing speed by combining PSO algorithm with potential guides found by both RFAAs and PSOAs. Since several contingent local minima conditions may happen to PSO, special agent transformation is suggested to provide information exchanging and cooperative coevolution between RFAAs and PSOAs. Effectiveness and efficiency of the proposed algorithm are compared with several algorithms in the various benchmark function problems. Finally, engineering design optimization problems taken from the gait control of a snake-like robot are implemented successfully by the proposed RFA-PSO.

  11. Robotics

    Science.gov (United States)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  12. Sociological and Biological Insights on How to Prevent the Reduction in Cognitive Activity that Stems from Robots Assuming Workloads in Human–Robot Cooperation

    Directory of Open Access Journals (Sweden)

    Diego Compagna

    2016-09-01

    Full Text Available The reduction of cognitive tasks brought about by new developments in service-robots’ collaboration with humans in working environments has given rise to new challenges as to how to address safety issues. This paper presents insights from biology, cognitive/neural sciences and sociology that can conquer these new challenges. The main focus lies in sociological variables that ensure safe human–robot interaction in working environments rather than addressing biological ones (avoiding bodily harm or purely cognitive ones (avoiding any signals that are outside the human’s sensory comfort zones. We will present an approach on how to integrate behavioral patterns into the robotic system in order to prevent the problem of reduced cognition in relation to essential features, which are necessary for carrying out this pattern in the context of a human–robot interaction with non-humanoid robots (which is the most typical design of robots used in work environments.

  13. Cooperative sentry vehicles and differential GPS leapfrog

    Energy Technology Data Exchange (ETDEWEB)

    FEDDEMA,JOHN T.; LEWIS,CHRISTOPHER L.; LAFARGE,ROBERT A.

    2000-06-07

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability that allows two or more vehicles to alternate sending DGPS corrections. Using this leapfrog technique, this paper shows that a group of autonomous vehicles can travel 22.68 kilometers with a root mean square positioning error of only 5 meters.

  14. Human-Robot Teaming

    Science.gov (United States)

    2005-03-28

    is a headset used mostly with virtual reality systems. An HMD can be a monocle, a pair of goggles, or a full helmet. In front of each eye is a...control simple mobility. 5.7. Haptic & Tactile Haptic and tactile devices make use of the sense of touch. Tactile is a specific type of haptic ...pagers and cell phones. Haptic devices of the greatest potential interest to the U.S. Army include tactile displays that provide information through

  15. Beyond Robotics

    Science.gov (United States)

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  16. A flexible dual-mode proximity sensor based on cooperative sensing for robot skin applications

    Science.gov (United States)

    Huang, Ying; Cai, Xia; Kan, Wenqing; Qiu, Shihua; Guo, Xiaohui; Liu, Caixia; Liu, Ping

    2017-08-01

    A flexible dual-mode proximity sensor has been designed and implemented, which is capable of combining capacitive-resistive detection in this paper. The capacitive type proximity sensor detecting is defined as mode-C, and the resistive type proximity sensor detecting is defined as mode-R. The characteristics of the proximity sensor are as follows: (1) the theoretical mode is developed which indicates that this proximity sensor can reflect proximity information accurately; (2) both sensing modes are vertically integrated into a sandwich-like chip with an 8 mm × 12 mm unit area. The thickness of a mode-R sensing material (graphene nanoplatelets) and mode-C dielectric (the mixture of carbon black and silicone rubber) is 1 mm and 2.5 mm, respectively; (3) for mode-R, the linearity of temperature-resistance curve can achieve 0.998 in the temperature range from 25°C to 65°C. And for mode-C, various materials can be successfully detected with fast response and high reversibility. Meanwhile, the study compensated the influence of object temperature to ensure mode-C properly works. A cooperative sensing test shows that R-C dual modes sense effectively which can enlarge the sensing distance compared with the single mode proximity sensor. The fabrication of this sensor is convenient, and the integrity of a flexible sandwich-like structure based on dual modes is beneficial to form arrays, which is suitable to be used in skin-like sensing applications.

  17. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

  18. Beasts of burden or organised cooperation: the story of a mental health team in remote, Indigenous Australia.

    Science.gov (United States)

    Hunter, Ernest; Onnis, Leigh-Ann; Santhanam-Martin, Radhika; Skalicky, Judy; Gynther, Bruce; Dyer, Geraldine

    2013-12-01

    This paper aims to describe the growth of a regionally-based mental health team providing services to remote Indigenous communities in far north Queensland. By drawing on their experience, the authors are able to identify factors supporting the development and sustained capacity of integrated mental health teams, working in challenging remote settings.

  19. The Summer Robotic Autonomy Course

    Science.gov (United States)

    Nourbakhsh, Illah R.

    2002-01-01

    We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the

  20. Evolutionary Design and Simulation of a Tube Crawling Inspection Robot

    Science.gov (United States)

    Craft, Michael; Howsman, Tom; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

    2002-01-01

    The Space Robotics Assembly Team Simulation (SpaceRATS) is an expansive concept that will hopefully lead to a space flight demonstration of a robotic team cooperatively assembling a system from its constitutive parts. A primary objective of the SpaceRATS project is to develop a generalized evolutionary design approach for multiple classes of robots. The portion of the overall SpaceRats program associated with the evolutionary design and simulation of an inspection robot's morphology is the subject of this paper. The vast majority of this effort has concentrated on the use and modification of Darwin2K, a robotic design and simulation software package, to analyze the design of a tube crawling robot. This robot is designed for carrying out inspection duties in relatively inaccessible locations within a liquid rocket engine similar to the SSME. A preliminary design of the tube crawler robot was completed, and the mechanical dynamics of the system were simulated. An evolutionary approach to optimizing a few parameters of the system was utilized, resulting in a more optimum design.

  1. 机器人和软件人协同智能仿真平台研究%Intelligent Cooperative Simulation of SoftMan and Robot

    Institute of Scientific and Technical Information of China (English)

    左敏; 曾广平; 涂序彦; 魏伟

    2011-01-01

    研究将软件人所具备的更全面的拟人智能、行为、功能应用到机器人的控制系统中以提升机器人的环境感知、动态决策与规划能力.设计了机器人和软件人平行进化、智能协调、协同仿真系统的总体方案,建立了两级大系统的多层状态空间模型,进行了协同仿真平台的体系结构设计,构建了机器人和软件人的两级平行系统:协调管理级(上级),监控软件人与机器人平行系统;局部控制级(下级)控制软件人与机器人平行系统.%In this paper we study how to apply the more comprehensive humanized intelligence, behavior, function of Soft-Man in robot's control system to enhance its perception of environment, dynamic decision-making and planning ability.The general research scheme of parallel evolution, intelligent coordination and cooperative simulation of robot and SoftMan is proposted.State space model of large scale system with two levels and architecture of the large scale system are established.Two level parallel systems of robot and SoftMan are built, which are coordinate management level ( upper level): parallel system of monitoring SoftMan and robot, and local control level ( lower level ):parallel system of controlling SoftMan and robot.

  2. Managing Uncertainty during Collaborative Problem Solving in Elementary School Teams: The Role of Peer Influence in Robotics Engineering Activity

    Science.gov (United States)

    Jordan, Michelle E.; McDaniel, Reuben R., Jr.

    2014-01-01

    This study investigated how interaction with peers influenced the ways students managed uncertainty during collaborative problem solving in a 5th-grade class. The analysis focused on peer responses to individuals' attempts to manage uncertainty they experienced while engaged in collaborative efforts to design, build, and program robots and…

  3. Managing Uncertainty during Collaborative Problem Solving in Elementary School Teams: The Role of Peer Influence in Robotics Engineering Activity

    Science.gov (United States)

    Jordan, Michelle E.; McDaniel, Reuben R., Jr.

    2014-01-01

    This study investigated how interaction with peers influenced the ways students managed uncertainty during collaborative problem solving in a 5th-grade class. The analysis focused on peer responses to individuals' attempts to manage uncertainty they experienced while engaged in collaborative efforts to design, build, and program robots and…

  4. The Use of Team Evaluation in Cooperative learning%小组捆绑式评价在小组合作学习中的应用

    Institute of Scientific and Technical Information of China (English)

    李意平

    2016-01-01

    The team evaluation, combining the individual and the collective, not only enhances the spirit of cooperation between team members, but also cultivates the feelings between students. The most important things are greatly enhancing collective honor sense and responsibility of team members and to improving the students' enthusiasm and creativity. This paper analyzes the problems existed in the process of carrying out team evaluation, and puts forward some solutions ,for reference to teachers.%小组捆绑式评价,将个人与集体结合起来,既能增强小组成员之间的合作精神,又培养了同学之间的感情,最重要的是大大增强了小组成员的集体荣誉感和责任感,提高了学生的学习积极性和创造性。该文对小组捆绑式评价实施过程中存在的问题进行了分析,并提出了几点解决措施,以供教师参考。

  5. Urologic robots and future directions

    OpenAIRE

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2008-01-01

    International audience; PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots and present future development directions. RECENT FINDINGS: Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. SUMMARY: The final goal of robot...

  6. Towards a cooperation between the arts, space science research and the European Space Agency - Preliminary findings of the ESA Topical Team Arts and Sciences (ETTAS)

    Science.gov (United States)

    Pell, Sarah Jane; Imhof, Anna Barbara; Waldvogel, Christian; Kotler, J. Michelle; Peljhan, Marko

    2014-12-01

    The arts offer alternative insights into reality, which are explored by science in general, and broadened by the activities conducted by the European Space Agency [4] and other space agencies. Similar to the way the members of ESA are ambassadors for spaceflight and science, artists and cultural professionals are ambassadors for human expression, experimentation, and exploration. In June 2011, the ESA Topical Team Arts and Sciences (ETTAS) held a three-day workshop at the European Astronaut Centre in Cologne, Germany. During this workshop, topics and ideas were discussed to develop initiatives between the arts, sciences and ESA. The aim was to foster and expand the human and cultural aspects of space exploration, and at the same time offer a means of communication that aims to reach audiences beyond the scope of traditional space-related channels. The consensus of the team was that establishing and sustaining a transdisciplinary professional community consisting of ESA representatives, scientists and artists would fuel knowledge transfer, and mutual inspiration. Potential ways to provide a sustainable cooperation within and between the various groups were discussed. We present the preliminary findings including a number of measures and mechanisms to initiate and conduct such an initiative. Plausible organisational measures, procedures and consequences, as well as a proposition on how to proceed are also discussed. Overall, the involvement and cooperation between the arts, space science research and ESA will enhance in the citizens of the ESA member states the sense of public ownership of ESA results, and participation in ESA's research.

  7. Construction Research of Faculty Team in School-Enterprise Cooperation%校企合作办学院校师资队伍建设探析

    Institute of Scientific and Technical Information of China (English)

    陈麓

    2012-01-01

    The construction of faculty team in colleges is given priority to enhance the level of running a college as well as teaching quality.Based on the view of talent training,this article studies the running mode of school-enterprise cooperation.The paper holds the viewpoint that the school-leadership-oriented cooperation can widen talents training channels by creating multiple platforms for training talents;that reforming evaluation mechanism and updating new concept of selection can help achieve the goal of "paying equal attention to talents and efficiency," and familarizing the operation can realize "the staff quit the job but the skill remains." Only in this way can we accelerate the construction of faculty team.%师资队伍建设是所有高校提升办学水平,做好教学质量控制的首要问题。本文立足人才视阈,研究校企合作办学类院校的师资队伍建设。认为校企合作办学院校领导,需要营造多元的造才平台,拓宽人才源头;改革评才机制,更新选才观念,可实现"求贤更求效";谙熟用才之术,争取"走人不走才",从而加快学校师资队伍建设。

  8. Nursing Cooperation in Robot-assisted Laparoscopic Partial Nephrectomy%机器人辅助腹腔镜肾部分切除术的护理配合

    Institute of Scientific and Technical Information of China (English)

    吴小凤; 盛夏; 吴震杰; 吕晨; 杨波

    2016-01-01

    目的:探讨机器人辅助腹腔镜肾部分切除术护理配合的要点。方法回顾性分析2012年3月至2014年10月在第二军医大学长海医院泌尿外科中心行机器人辅助腹腔镜肾部分切除术的151例肾脏肿瘤患者的临床资料,总结其护理要点。结果150例患者顺利完成手术,1例患者中转开腹行肾部分切除术。结论机器人辅助腹腔镜肾部分切除术是一种安全有效的治疗局限性肾肿瘤的微创手术方法,器械设备管理以及手术前后护理配合是保证手术顺利实施的重要环节。%Objective To summarize the key point of nursing cooperation in robot-assisted laparoscopic partial nephrectomy.Methods Clinical data of 15 1 cases were analyzed retrospectively,and the key nursing points were concluded.Results There were 150 patients underwent successful robot-assisted laparoscopic partial nephrectomy,1 case was transferred to opening partial nephrectomy.Conclusion Robot-assisted laparoscopic partial nephrectomy is a safe and effective minimally invasive treatment for localized renal cell carcinoma.The equipment management and preoperative and postoperative nursing cooperation is the key link to gurantee the successful implementation of the surgery.

  9. Dialogue in team formation

    NARCIS (Netherlands)

    Dignum, F; Dunin-Keplicz, B; Verbrugge, R; Dignum, F; Chaib-Draa, B; Weigand, H

    1999-01-01

    The process of cooperative problem solving can be divided into four stages. First, finding potential team members, then forming a team followed by constructing a plan for that team. Finally, the plan is executed by the team. Traditionally, very simple protocols like the Contract Net protocol are use

  10. Dialogue in team formation

    NARCIS (Netherlands)

    Dignum, F; Dunin-Keplicz, B; Verbrugge, R; Dignum, F; Chaib-Draa, B; Weigand, H

    1999-01-01

    The process of cooperative problem solving can be divided into four stages. First, finding potential team members, then forming a team followed by constructing a plan for that team. Finally, the plan is executed by the team. Traditionally, very simple protocols like the Contract Net protocol are

  11. ON COOPERATIVE BEHAVIOR IN DISTRIBUTED TEAMS: THE INFLUENCE OF ORGANIZATION DESIGN, MEDIA RICHNESS, SOCIAL INTERACTION, AND INTERACTION ADAPTATION

    Directory of Open Access Journals (Sweden)

    Dorthe Doejbak Haakonsson

    2016-05-01

    Full Text Available Self-interest vs. cooperation is a fundamental dilemma in animal behavior as well as in human and organizational behavior. In organizations, how to get people to cooperate despite or in conjunction with their self-interest is fundamental to the achievement of a common goal.While both organizational designs and social interactions have been found to further cooperation in organizations, some of the literatures have received contradictory support, just as very little research, if any, has examined their joint effects in distributed organizations, where communication is usually achieved via different communication media. This paper reviews the extant literature, and offers a set of hypothesis to integrate current theories and explanations. Further, it discusses how future research should examine the joint effects of media, incentives, and social interactions.

  12. On Cooperative Behavior in Distributed Teams: The Influence of Organizational Design, Media Richness, Social Interaction, and Interaction Adaptation.

    Science.gov (United States)

    Håkonsson, Dorthe D; Obel, Børge; Eskildsen, Jacob K; Burton, Richard M

    2016-01-01

    Self-interest vs. cooperation is a fundamental dilemma in animal behavior as well as in human and organizational behavior. In organizations, how to get people to cooperate despite or in conjunction with their self-interest is fundamental to the achievement of a common goal. While both organizational designs and social interactions have been found to further cooperation in organizations, some of the literature has received contradictory support, just as very little research, if any, has examined their joint effects in distributed organizations, where communication is usually achieved via different communication media. This paper reviews the extant literature and offers a set of hypotheses to integrate current theories and explanations. Further, it discusses how future research should examine the joint effects of media, incentives, and social interactions.

  13. 基于凝聚子群分析的企业内部合作团队的选择%The Choice of Cooperating Team within Enterprise Based on Cohesive Subgroup Analysis

    Institute of Scientific and Technical Information of China (English)

    杨桂婵

    2015-01-01

    有凝聚力的合作团队是企业实现价值、创造利润的基础,合作团队的选择依据是团队成员之间积极的感情与知识交流. 为了合理选择企业内部高效率的合作团队,利用社会网络分析中凝聚子群的分析方法以及cliques、factions等指标, 对企业员工依据交流程度进行分组,组建合作团队,并用E-I指数对合作团队选择的合理性与有效性进行分析. 结合案例分析说明合作团队选择的过程和结果,并对各指标的特点和效果进行了总结.%Cohesive cooperating team is the basis of an enterprise to realize the value and create the profit,and the choice of cooperating team depends on the positive emotion and knowledge exchange among all team members. In order to choose proper high-efficiency cooperating team within enterprise,the enterprise employees should be grouped according to the exchange degree and build the cooperating team by using the cohesive subgroup analysis and cliques,factions and other indicators of social network analysis,and the rationality and validity of the choice of cooperating team with the E-I index. Combined with case studies, this paper demonstrates the process and results of the choice of cooperating team, and sums up the features and effects of all indexes.

  14. Design of the multirobot intelligent team formation's control architecture and performance analysis of the system

    Institute of Scientific and Technical Information of China (English)

    WANG Xing-ce; GU Guo-chang; ZHANG Ru-bo; LIU Hai-bo

    2007-01-01

    The layered control architecture is designed for the need of the multirobot intelligent team formation.There are three levels:the cooperation task level, the coordination behavior level and the action planning level.The cooperation task level uses the potential grid method, which improves the safety of the path and reduces the calculation complexity. The coordination behavior level uses the reinforcement learning which can strengthen the robots' intelligence. The action planning level uses the fuzzy planning methods to realize the action matching.The communication model transfers the message in different level. This architecture shows not only the independence and the intelligence of the single robot but also the cooperation and the coordination among the robots.In each level, the task is distributed reasonably and clearly. Finally the feasibility of the architecture is verified further in the simulation of the experiment. The expansibility of the architecture is good and the architecture can be used in the similar system.

  15. Construction of Innovation Team Based on Cooperative Development%基于协同发展的创新团队建设

    Institute of Scientific and Technical Information of China (English)

    韩英男; 轧铸; 袁航; 张哲; 熊伟明

    2012-01-01

    Based on the practice, the author discussed the construction mechanism of the university innovation team, focusing on the organization mode, the construction idea and operational mechanism. Combining with the Interdisciplinary trends of innovation team construction, multidisciplinary cooperative development model was proposed. Therefore, not only the important theoretical foundation was provided to build up a complementary and resource -rich innovation team, but also some operability recommendations were proposed for this work.%本文从当前高校创新团队建设的实践出发,重点从团队的组建模式、建设理念和运行机制三个方面入手深入探讨团队建设机制,针对目前创新团队建设的跨领域、跨学科发展趋势,提出了团队的多学科协同融合发展模式,为保障建成一支资源丰富、优势互补的创新团队提供了重要的理论基础,同时也为团队协同融合发展提出相应的可操作性建议.

  16. SWAT (Student Weekend Arborist Team): A Model for Land Grant Institutions and Cooperative Extension Systems to Conduct Street Tree Inventories

    Science.gov (United States)

    Cowett, F.D.; Bassuk, N.L.

    2012-01-01

    SWAT (Student Weekend Arborist Team) is a program affiliated with Cornell University and Extension founded to conduct street tree inventories in New York State communities with 10,000 residents or fewer, a group of communities underserved in community forestry planning. Between 2002 and 2010, SWAT conducted 40 inventories, and data from these…

  17. Robust Kalman Filtering Cooperated Elman Neural Network Learning for Vision-Sensing-Based Robotic Manipulation with Global Stability

    Directory of Open Access Journals (Sweden)

    Xungao Zhong

    2013-10-01

    Full Text Available In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF, in conjunction with Elman neural network (ENN learning techniques. The global map relationship between the vision space and the robotic workspace is learned using an ENN. This learned mapping is shown to be an approximate estimate of the Jacobian in global space. In the testing phase, the desired Jacobian is arrived at using a robust KF to improve the ENN learning result so as to achieve robotic precise convergence of the desired pose. Meanwhile, the ENN weights are updated (re-trained using a new input-output data pair vector (obtained from the KF cycle to ensure robot global stability manipulation. Thus, our method, without requiring either camera or model parameters, avoids the corrupted performances caused by camera calibration and modeling errors. To demonstrate the proposed scheme’s performance, various simulation and experimental results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.

  18. Toward Integrated Soccer Robots

    OpenAIRE

    Shen, Wei-Min; Adibi, Jafar; Adobbati, Rogelio; Cho, Bonghan; Erdem, Ali; Moradi, Hadi; Salemi, Behnam; Tejada, Sheila

    1998-01-01

    Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each ot...

  19. Towards heterogeneous robot team path planning: acquisition of multiple routes with a modified spline-based algorithm

    Directory of Open Access Journals (Sweden)

    Lavrenov Roman

    2017-01-01

    Full Text Available Our research focuses on operation of a heterogeneous robotic group that carries out point-to point navigation in GPS-denied dynamic environment, applying a combined local and global planning approach. In this paper, we introduce a homotopy-based high-level planner, which uses a modified splinebased path-planning algorithm. The algorithm utilizes Voronoi graph for global planning and a set of optimization criteria for local improvements of selected paths. The simulation was implemented in Matlab environment.

  20. UvA Rescue - Team Description Paper - Virtual Robot competition - Rescue Simulation League RoboCup Iran Open 2014

    NARCIS (Netherlands)

    Visser, A.

    2014-01-01

    This year the task of the UvA Rescue Team is to break up the monolith architecture of the control architecture. On the one hand this will make the existing modules reusable by other researchers; on the other hand it opens the possibility to incorporate efficient modules from other research groups. A

  1. Empirical Study on the Impact of University-Industry Cooperation on Academic Team Building: A Test of Regulating Effect of Team Heterogeneity%产学研合作对学术团队建设影响的实证研究——团队特征差异的调节效应检验

    Institute of Scientific and Technical Information of China (English)

    马卫华; 刘佳; 樊霞

    2012-01-01

    Because of today's technological advances and interdisciplinary integration, academic team has been used as a new organizational model to explore science and technology. With our substantial increase in R&D and in-depth cooperation between university and industry, academic research teams integrate and utilize internal and external knowledge resources through university-industry cooperation in order to enhance academic team's R&D capability.'In essence, developing academic team's high-level core ability is a team-building process and the results of a large number of academic research practices. For instance, academic teams are improving the research conditions, standardizing the team management regulation, and forming effective knowledge sharing and creation among team members through the integration of internal and external funding. Achieving the excavation, conversion, application of knowledge assets and generating new knowledge are critical to enhancing the core competence of academic team. University-industry cooperation has the advantage of achieving knowledge integration and resource optimization of main cooperation body and generating synergistic effect through exchanging and sharing its knowledge from inter-organization and within the organization. Although academic institutions have played an important role for the funding of research projects, they often ignore the impact of university-industry cooperation on university academic team building. More research projects should investigate how academic team achieves knowledge exchanging and sharing among different enterprises, and teams, thereby affecting the knowledge creation within the team through university-industry cooperation.From the dynamic perspective of academic team building, we use academic teams in Guangdong universities as our database to analyze the cooperation from two dimensions-cooperation breadth and cooperation depth- and to explore the impact on the academic team core ability. We further

  2. The Delta Cooperative Model: a Dynamic and Innovative Team-Work Activity to Develop Research Skills in Microbiology

    OpenAIRE

    Carlos Rios-Velazquez; Reynaldo Robles-Suarez; GONZALEZ-NEGRON, ALBERTO J.; Ivan Baez-Santos

    2006-01-01

    The Delta Cooperative Model (DCM) is a dynamic and innovative teamwork design created to develop fundamentals in research skills. High school students in the DCM belong to the Upward Bound Science and Math (UBSM) program at the Inter American University, Ponce Campus. After workshops on using the scientific method, students were organized into groups of three students with similar research interests. Each student had to take on a role within the group as either a researcher, data analyst, or ...

  3. Risk of Performance and Behavioral Health Decrements Due to Inadequate Cooperation, Coordination, Communication, and Psychosocial Adaptation within a Team

    Science.gov (United States)

    Landon, Lauren Blackwell; Vessey, William B.; Barrett, Jamie D.

    2015-01-01

    A team is defined as: "two or more individuals who interact socially and adaptively, have shared or common goals, and hold meaningful task interdependences; it is hierarchically structured and has a limited life span; in it expertise and roles are distributed; and it is embedded within an organization/environmental context that influences and is influenced by ongoing processes and performance outcomes" (Salas, Stagl, Burke, & Goodwin, 2007, p. 189). From the NASA perspective, a team is commonly understood to be a collection of individuals that is assigned to support and achieve a particular mission. Thus, depending on context, this definition can encompass both the spaceflight crew and the individuals and teams in the larger multi-team system who are assigned to support that crew during a mission. The Team Risk outcomes of interest are predominantly performance related, with a secondary emphasis on long-term health; this is somewhat unique in the NASA HRP in that most Risk areas are medically related and primarily focused on long-term health consequences. In many operational environments (e.g., aviation), performance is assessed as the avoidance of errors. However, the research on performance errors is ambiguous. It implies that actions may be dichotomized into "correct" or "incorrect" responses, where incorrect responses or errors are always undesirable. Researchers have argued that this dichotomy is a harmful oversimplification, and it would be more productive to focus on the variability of human performance and how organizations can manage that variability (Hollnagel, Woods, & Leveson, 2006) (Category III1). Two problems occur when focusing on performance errors: 1) the errors are infrequent and, therefore, difficult to observe and record; and 2) the errors do not directly correspond to failure. Research reveals that humans are fairly adept at correcting or compensating for performance errors before such errors result in recognizable or recordable failures

  4. Correlation study between nursing personnel cooperation status and team performance%护理人员合作状况与团队绩效的相关性研究

    Institute of Scientific and Technical Information of China (English)

    刘继红; 杨莘; 张庆陶

    2016-01-01

    Objective:To know about the relationship between nursing team cooperation status and team per-formance,nurse’s satisfaction.Methods:A total of 29 teams of 371 nursing personnel in a third grade A general hospital in Beijing were investigated by using nursing team cooperation status questionnaire and nurses’satis-faction scale,performance evaluation tools.And team performance was calculated through quality control test results and workload and so on.Results:The trust and support of nursing team,team mental model,leadership and team orientation 4 dimensions were positively related to team performance (P<0.05 or P<0.01),trust and support,team mental model leadership 3 dimensions were positively related to member’s satisfaction (P<0.05);team cooperation was positively related to team performance and satisfaction,members’satisfaction was posi-tively related to team performance (P<0.05).Conclusion:Improving nursing team cooperation situation could enhance the satisfaction of nursing personnel and nursing performance.%[目的]了解护理团队合作状况与团队绩效、护士满意度的关系。[方法]采用护理团队合作状况调查问卷和护士专用满意度量表、绩效评价工具对北京市某三级综合医院29个团队371名护理人员进行问卷调查,通过专职人员质控检查成绩和工作量等指标计算团队绩效。[结果]护理团队的信任与支持、团队心智模型、领导和团队取向4个维度与团队绩效呈正相关(P<0.05或P<0.01),信任与支持、团队心智模型、领导3个维度与成员满意度呈正相关(P<0.05);团队合作与团队绩效、满意度呈正相关,成员满意度与团队绩效呈正相关(P<0.05)。[结论]提高护理团队合作状况可以提高护理人员满意度及护理绩效。

  5. The promoting mechanism of cooperative goal for the creativity of research team%合作目标促进科研团队创造力的机理研究

    Institute of Scientific and Technical Information of China (English)

    耿紫珍; 刘新梅; 沈力

    2012-01-01

    基于激发型信息处理的视角,探讨了合作目标互依性、知识共享和团队反思与科研团队创造力之间的关系,构建了相应的概念模型。运用结构方程模型和225个有效科研团队样本对所提出的假设进行检验。实证研究结果表明,合作目标互依性对科研团队创造力有积极影响;知识共享与团队反思在合作目标互依性与科研团队创造力之间具有完全中介效应,而知识共享对团队反思有正向促进作用。研究结果打开了合作目标影响科研团队创造力的信息处理黑箱,扩展了激发型信息处理视角在团队创造力研究领域中的应用。%From a motivated information processing perspective, knowledge sharing as social processing of information and team reflection as cognitive processing of information in the creative process of research team are put forward. A framework that consists of cooperative goal interdependence, knowledge sharing, team reflection, and team creativity is established to describe the effect of cooperative goal interdependence on the creativity of research team. The structural equation modeling is used to analyze the survey data of 225 effective research teams, some conclusions are drawn as follows: Firstly, cooperative goal interdependence has a positive effect on the creativity of research team. Secondly, knowledge sharing and team reflection are found to play a complete mediative role on the relationship between cooperative goal interdependence and team creativity. Thirdly, knowledge sharing has a positive effect on team reflection. These findings make the contribution for opening the black box involving information process- ing mechanism through which cooperative goal affects the creativity of research team and have extended the applications of motiva- ted information processing perspective to the field of team creativity.

  6. A Distributed Hunting Approach for Multiple Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Zhiqiang Cao

    2013-04-01

    Full Text Available A novel distributed hunting approach for multiple autonomous robots in unstructured mode‐free environments, which is based on effective sectors and local sensing, is proposed in this paper. The visual information, encoder and sonar data are integrated in the robot’s local frame, and the effective sector is introduced. The hunting task is modelled as three states: search state, round‐obstacle state, and hunting state, and the corresponding switching conditions and control strategies are given. A form of cooperation will emerge where the robots interact only locally with each other. The evader, whose motion is a priori unknown to the robots, adopts an escape strategy to avoid being captured. The approach is scalable and may cope with problems of communication and wheel slippage. The effectiveness of the proposed approach is verified through experiments with a team of wheeled robots.

  7. Experiments in cooperative-arm object manipulation with a two-armed free-flying robot. Ph.D. Thesis

    Science.gov (United States)

    Koningstein, Ross

    1990-01-01

    Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

  8. 机器人辅助腹腔镜下前列腺癌根治术护理团队的建设和培训%Construction and Training of Robot-assisted Laparoscopic Prostatectomy Nursing Team

    Institute of Scientific and Technical Information of China (English)

    沈群; 杨波; 王燕; 过菲; 高旭; 盛夏

    2014-01-01

    Objective To discuss the progressive construction and training of robot‐assisted laparoscopic prostatectomy (RALP) nursing team .Methods Our accumulated experience in nursing team‐building for the RALP from March 2012 until now was retrospectively summarized .The whole training system include four stages:theoretical study ,simulation operation ,scene teaching and concentrate training .Results Over the study period ,100 consecutive cases of RALP were carried out in our hospital .Through this series ,the member of nurses mastered in surgical cooperation were increased from the initial 2 to the current 10 ,and a specialized step‐by‐step training system was establish with a series of improvement measures .With this training program ,the preoperative preparation time of the Da Vinci robot was significantly decreased .Con‐clusion RALP nursing team construction and training have significant improvement to surgical effective‐ness ,which is worthwhile for clinical trial .%目的:总结机器人辅助腹腔镜下前列腺癌根治术(robot‐assisted laparoscopic prostatectomy ,RALP)护理团队渐进式建设和培训的经验。方法回顾性分析并总结2012年3月至今第二军医大学长海医院开展RA L P护理团队的建设经验,整个培训体系包括4个阶段:理论学习,模拟操作,现场带教和集中强化。结果2012年3月至2013年10月,第二军医大学长海医院共开展RALP手术100例,熟练掌握手术配合的护士由最初的2人增加到目前的10人,建立了一个成熟的护理团队,形成了一套“阶梯式”的培训体系,摸索了一系列改进措施,机器人的术前准备时间明显缩短。结论 RALP护理团队的建设与培训对手术的进一步开展和提高手术效率具有积极意义,值得在临床推广应用。

  9. Multi-robot cooperative localization based on particle swarm optimization%粒子群优化的多机器人协作定位方法

    Institute of Scientific and Technical Information of China (English)

    刘利枚; 蔡自兴

    2011-01-01

    针对异质多机器人具有不同的感知能力和处理能力的特点,提出一种基于粒子群优化的多机器人协作相对定位方法.该方法将常规粒子滤波方法与粒子群优化算法有机结合,通过粒子群优化方法对预估粒子进行更新,同时利用多机器人之间的相对观测信息,调整粒子的提议分布和粒子权重,增强多机器人位置预测的有效性,提高多机器人定位的精度.实时数据实验结果表明:该方法正确、可行.%According to different perceptions and processing abilities of heterogeneous robots, an approach to multi-robot cooperative localization was presented based on particle swarm optimization. Through the particle swarm algorithm combined with the standard particle filter, the prediction of particles was updated, and the proposal distribution and the weight of particles were adjusted based on the relative observations to enhance the effectiveness of the position prediction and improve the localization accuracy. The online experimential results prove that the improved method is correct and feasible.

  10. Decentralized Control of Unmanned Aerial Robots for Wireless Airborne Communication Networks

    Directory of Open Access Journals (Sweden)

    Deok-Jin Lee

    2010-09-01

    Full Text Available This paper presents a cooperative control strategy for a team of aerial robotic vehicles to establish wireless airborne communication networks between distributed heterogeneous vehicles. Each aerial robot serves as a flying mobile sensor performing a reconfigurable communication relay node which enabls communication networks with static or slow-moving nodes on gorund or ocean. For distributed optimal deployment of the aerial vehicles for communication networks, an adaptive hill-climbing type decentralized control algorithm is developed to seek out local extremum for optimal localization of the vehicles. The sensor networks estabilished by the decentralized cooperative control approach can adopt its configuraiton in response to signal strength as the function of the relative distance between the autonomous aerial robots and distributed sensor nodes in the sensed environment. Simulation studies are conducted to evaluate the effectiveness of the proposed decentralized cooperative control technique for robust communication networks.

  11. Penerapan Metode Cooperative Learning Tipe Student Teams Achievement Division (STAD Untuk Meningkatkan Keterampilan Kerjasama Siswa Dalam Pembelajaran Sejarah

    Directory of Open Access Journals (Sweden)

    Pitria Apriyani

    2016-05-01

    Full Text Available It became the benchmark for researchers to improve learning condition in class XI IPS 3 of SMA Negeri 1 Rajagaluh. The researcher conducted classroom action with using cooperative learning method, STAD type to improve student’s collaboration skill in class XI IPS 3 of SMA Negeri 1 Rajagaluh. This research used Classroom Action Research (CAR. The procedure or design of this research used Kemmis and M.C Taggart research design starting for planning, implementation, observation and reflection. Research data was obtained through documentation and observational study. This research consisted of foeur cycles and four acts. The research result obtained by researcher indicated that the application of cooperative learning method, STAD type in learning history can improve student’s collaboration skill in learning history in Class XI IPS 3 of SMA Negeri 1 Rajagaluh, it can be seen from the data obtained from predetermined indicators that the student’s are able to use the deal, bearing responsibility, appreciating the contribution, respecting individual differences and collecting the assignments on time according to the assessment criteria of each determined indicator.

  12. Coordinated action in a heterogeneous rescue team

    NARCIS (Netherlands)

    F. Alnajar; H. Nijhuis; A. Visser

    2009-01-01

    In this paper we describe a new approach to make use of a heterogeneous robot team for the RoboCup Rescue League Virtual Robot competition. We will demonstrate coordinated action between a flying and a ground robot. The flying robot is used for fast exploration and allows the operator to find the pl

  13. Coordinated action in a heterogeneous rescue team

    NARCIS (Netherlands)

    Alnajar, F.; Nijhuis, H.; Visser, A.

    2010-01-01

    In this paper we describe a new approach to make use of a heterogeneous robot team for the RoboCup Rescue League Virtual Robot competition. We will demonstrate coordinated action between a flying and a ground robot. The flying robot is used for fast exploration and allows the operator to find the pl

  14. Distributed consensus with visual perception in multi-robot systems

    CERN Document Server

    Montijano, Eduardo

    2015-01-01

    This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible. Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as: ·         distributed consensus algorithms; ·         data association and robustne...

  15. Research on cooperative ball-pushing for multiple biomimetic robotic-fish based on dynamic role assignment strategy%基于动态角色的多机器鱼协作顶球研究

    Institute of Scientific and Technical Information of China (English)

    肖权; 孔峰; 谢广明

    2012-01-01

    机器鱼水球比赛是进行多机器鱼协作研究的标准平台.考虑在机器鱼水球比赛中的协作顶球策略问题,以行为机制理论为基础,根据机器鱼与球之间的距离及机器鱼的方向,通过引入进攻与防守函数来确定各机器鱼的动态角色分配.进一步将多机器鱼协作顶球任务划分为4个子任务层,分别对4个子任务层的行为机制与算法加以规划.最后,通过实验验证了多机器鱼协作顶球策略的可行性和有效性.%Water polo game performs as one standard platform for the study on multiple biomimetic robotic-fish cooperation these days. Consider the ball-pushing task, in which the dynamic roles of robotic-fish are determined by attack and defense functions which are based on the distances between the robotic-fish and the center of ball and the directions of the robotic-fish. Further, the ball-pushing task is plotted into four subtask levels, whose behaviors and algo-rithm are plotted separately. Finally, it is verified through test that it is effective and feasible for the multiple biomimetic robotic-fish to cooperative push ball on multiple biomimetic robotic-fish coopera-tive control platforms.

  16. Multicultural team conflict management

    Directory of Open Access Journals (Sweden)

    Krystyna Heinz

    2014-06-01

    Full Text Available The article presents the potential problems related to conflict resolution while cooperating in multicultural teams. Special attention is paid to specific character of such teams as well as to the concept of productive conflict and the ways of resolving it. The experiences gained in the Erasmus Intenstive Programme - Effective Working in Multicultural Teams were used.

  17. Multicultural team conflict management

    OpenAIRE

    Krystyna Heinz

    2014-01-01

    The article presents the potential problems related to conflict resolution while cooperating in multicultural teams. Special attention is paid to specific character of such teams as well as to the concept of productive conflict and the ways of resolving it. The experiences gained in the Erasmus Intenstive Programme - Effective Working in Multicultural Teams were used.

  18. Ant-based distributed protocol for coordination of a swarm of robots in demining mission

    Science.gov (United States)

    De Rango, Floriano; Palmieri, Nunzia

    2016-05-01

    Coordination among multiple robots has been extensively studied, since a number of practical real problem s can be performed using an effective approach. In this paper is investigated a collective task that requires a multi-robot system to search for randomly distributed mines in an unknown environment and disarm them cooperatively. The communication among the swarm of robots influences the overall performance in terms of time to execute the task or consumed energy. To address this problem, a new distributed recruiting protocol to coordinate a swarm of robots in demining mission, is described. This problem is a multi-objective problem and two bio inspired strategies are used. The novelty of this approach lies in the combination of direct and indirect communication: on one hand an indirect communication among robots is used for the exploration of the environment, on the other hand a novel protocol is used to accomplish the recruiting and coordination of the robots for demining task. This protocol attempts to tackle the question of how autonomous robot can coordinate themselves into an unknown environment relying on simple low-level capabilities. The strategy is able to adapt the current system dynamics if the number of robots or the environment structure or both change. The proposed approach has been implemented and has been evaluated in several simulated environments. We analyzed the impact of our approach in the overall performance of a robot team. Experimental results indicated the effectiveness and efficiency of the proposed protocol to spread the robots in the environment.

  19. Networking a mobile robot

    Science.gov (United States)

    McKee, Gerard T.

    1994-10-01

    Conventional mobile robotic systems are `stand alone'. Program development involves loading programs into the mobile, via an umbilical. Autonomous operation, in this context, means `isolation': the user cannot interact with the program as the robot is moving around. Recent research in `swarm robotics' has exploited wireless networks as a means of providing inter- robot communication, but the population is still isolated from the human user. In this paper we report on research we are conducting into the provision of mobile robots as resources on a local area computer network, and thus breaking the isolation barrier. We are making use of new multimedia workstation and wireless networking technology to link the robots to the network in order to provide a new type of resource for the user. We model the robot as a set of resources and propose a client-server architecture as the basis for providing user access to the robots. We describe the types of resources each robot can provide and we outline the potential for cooperative robotics, human-robot cooperation, and teleoperation and autonomous robot behavior within this context.

  20. 科研团队合作网络特征分析及比较——以中德两个大学科研团队为例%Analysis and Comparison on Characteristics of Cooperation Network in Scientific Research Team: Case of Two Scientific Research Teams from Universities in China and German

    Institute of Scientific and Technical Information of China (English)

    闫俊周

    2012-01-01

    Taking two scientific research teams from Universities in China and German as the example, using the data obtained from the inter- view and survey for these two teams, this paper compares and analyzes the characteristics of cooperation network and network formation of these two scientific research teams by the methods of social network analysis and typical case study. The results show as follows., the densities of these two teams' cooperation networks are all low due to same team's size and large scale~ there are exist the significant differences in concentration, network structure and stability of cooperation network between these two scientific research teams;two teams' leaders all have important influ- ences on respective team's cooperation network.%以中德两个大学科研团队为例,利用通过卖地访谈和问卷调查收集的数据,运用社会网络分析和典型案例研究方法,对两个大学科研团队合作网络的结网特点和特征进行了比较分析。结果显示:由于两个样本科研团队的规模一致且团队规模较大,因此其合作网络的密度具有一致性,即均较低;两个科研团队在合作网络的集中度、网络结构和稳定性方面存在较大差异;两个科研团队的领导人对其合作网络均具有重要影响。

  1. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Operational research of humanoid robot system; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the operational research of humanoid robot system. Carrying out the development smoothly and efficiently requires accumulation of the operational know-how in both of the periodical check and maintenance and the aspects of hard and software to maintain the functions and performances of the robot platform having been developed in the previous fiscal year. Checks were given on fitting of the fasteners and connectors, batteries, and sensors. Operations were confirmed and adjusted on the liquid crystal projector of the surrounded visual display system for remotely controlled operation, polarization filters, screens, reflector mirrors, and wide viewing angle cameras. Verifications were made on fitting of the arm operation force sensing and presenting system, checks on the mechanical components, and operation of the driving system, whereas no change has been found in the operation for the period of one year, and sufficient performance was identified for the remote robot operation. The virtual robot platform has presented no crash and impediments during erroneous use in the disks of the dynamics simulator and the distributed network processing system. (NEDO)

  2. Bio-inspired motion planning algorithms for autonomous robots facilitating greater plasticity for security applications

    Science.gov (United States)

    Guo, Yi; Hohil, Myron; Desai, Sachi V.

    2007-10-01

    Proposed are techniques toward using collaborative robots for infrastructure security applications by utilizing them for mobile sensor suites. A vast number of critical facilities/technologies must be protected against unauthorized intruders. Employing a team of mobile robots working cooperatively can alleviate valuable human resources. Addressed are the technical challenges for multi-robot teams in security applications and the implementation of multi-robot motion planning algorithm based on the patrolling and threat response scenario. A neural network based methodology is exploited to plan a patrolling path with complete coverage. Also described is a proof-of-principle experimental setup with a group of Pioneer 3-AT and Centibot robots. A block diagram of the system integration of sensing and planning will illustrate the robot to robot interaction to operate as a collaborative unit. The proposed approach singular goal is to overcome the limits of previous approaches of robots in security applications and enabling systems to be deployed for autonomous operation in an unaltered environment providing access to an all encompassing sensor suite.

  3. A Survey of Space Robotics

    Science.gov (United States)

    Pedersen, L.; Kortenkamp, D.; Wettergreen, D.; Nourbakhsh, I.; Korsmeyer, David (Technical Monitor)

    2003-01-01

    In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.

  4. Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

    Science.gov (United States)

    Chen, Vincent Wei-Kang

    1992-01-01

    Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free

  5. Modelling and controlling of behaviour for autonomous mobile robots

    CERN Document Server

    Skubch, Hendrik

    2012-01-01

    As research progresses, it enables multi-robot systems to be used in more and more complex and dynamic scenarios. Hence, the question arises how different modelling and reasoning paradigms can be utilised to describe the intended behaviour of a team and execute it in a robust and adaptive manner. Hendrik Skubch presents a solution, ALICA (A Language for Interactive Cooperative Agents) which combines modelling techniques drawn from different paradigms in an integrative fashion. Hierarchies of finite state machines are used to structure the behaviour of the team such that temporal and causal re

  6. Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

    OpenAIRE

    2015-01-01

    El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la activi...

  7. Team Effectiveness and Team Development in CSCL

    Science.gov (United States)

    Fransen, Jos; Weinberger, Armin; Kirschner, Paul A.

    2013-01-01

    There is a wealth of research on computer-supported cooperative work (CSCW) that is neglected in computer-supported collaborative learning (CSCL) research. CSCW research is concerned with contextual factors, however, that may strongly influence collaborative learning processes as well, such as task characteristics, team formation, team members'…

  8. Design of robot soccer simulator

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Robot soccer game is an interesting emerging domain for multiple cooperative robotic system. This paper discusses the detailed design of a simulator, and describes the architecture of soccer server and client in detail. This simulator is sufficiently flexible and robust for the users to develop strategies for a simulated compe tition and to test algorithms of intelligent robotics.

  9. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. Development for putting new power generating technology to practical use; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating and coexisting with human beings to carry out complicated operations in a dangerous site such as a plant, power station maintenance, construction, disaster relief, etc. This paper describes the fiscal 2000 results. In the research for navigated walking functions, the capabilities were extracted for walking straight, turning around and going up and down stairs, with a virtual platform simulated and examined. In the development of remote operation for proxy drive, a method was investigated for instructing change in posture and cooperative movement of the arms and legs. In the evaluation of proxy drive operations for industrial vehicles, a type of operating machine was specified for driving in a standing posture applicable to a robot. In the development of information forming technology supporting remote operations, a basic design was made for the simulator technology of compensating information. Server/client remote control technology was investigated, while a plurality of bi-directional interface means were reviewed for the purpose of efficient information exchange between a robot and an operator. A system for assembling a wall panel was evaluated as an outdoor man-machine cooperative operation. Adaptability to complicated environment such as unprepared ground was also studied, as well as the control of movement of a humanoid robot. (NEDO)

  10. Active Faultline,Cooperative Outcome Ineterdependence and Team Learning Behavior%激活的断裂、合作的结果相依性与团队学习行为

    Institute of Scientific and Technical Information of China (English)

    刘新梅; 韩骁; 燕方; 白杨

    2015-01-01

    从断裂激活的视角出发,以断裂理论和社会相依性理论为基础,提出了激活的断裂和合作的结果相依性影响团队学习行为和团队创新的概念模型,并利用68个有效的团队样本进行了实证检验。研究发现:激活的断裂直接对团队效率产生负向作用,团队学习行为在激活的断裂对团队创新的负向作用中起部分中介作用;合作的结果相依性对激活的断裂与团队学习行为和团队创新之间的关系具有负向调节效应。%2.The Key Lab of the Ministry of Education for Process Control and Efficiency Engineering,Xi′an 710049,China) Abstract In consideration of the shortcomings of the objective research methods about faultline,this paper,from the perspective of faultline activation,proposes the conceptual framework bases on social dependency theory to explain how active faultline and cooperative outcome interdependence impact team learning behavior and team performance.68 valid team samples are adopted in the empirical analysis.The results reveal direct negative effect of active faultline on team ef-ficiency and indirect negative effect of active faultline on team innovation through team learning behavior.And this paper also discovers and confirms the negative moderating effects of cooperative outcome interdependence on the effects of ac-tive faultline on team learning behavior and team performance.

  11. Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    Full Text Available We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory. The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. It is assumed that network robots have the same number of joints and equivalent joint work spaces. A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time-delay problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.

  12. Cooperative Learning Strategies.

    Science.gov (United States)

    Barnes, Buckley; O'Farrell, Gail

    1990-01-01

    Presents essential characteristics and types of cooperative learning strategies for use in elementary social studies. Outlines exercises for forming teams and building team spirit. Points out such methods promote group interdependence and student responsibility for learning and teaching others. Highlights two cooperative group strategies, Jigsaw…

  13. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  14. Notion of Control-Law Module and Modular Framework of Cooperative Transportation Using Multiple Nonholonomic Robotic Agents With Physical Rigid-Formation-Motion Constraints.

    Science.gov (United States)

    Li, Wei

    2016-05-01

    Consider cooperative manipulation and transportation of a rigid body by multiple two-wheeled nonholonomic robotic agents that attached to it, the agents are then physically constrained to maintain rigid-formation-motion (RFM); thus the system has two physical motion-constraints at two levels: 1) the nonholonomic constraint at the individual level and 2) the RFM constraint at the system level. First, we provide a novel notion: the encapsulation of a category of control with certain constraints for one motion-mode as a control-law module (CLM), any concrete control law with such constraints is called an instance of the CLM; here two CLMs are provided as the examples. Then we provide an RFM control framework by decomposing a feasible RFM configuration-path as a concatenation of partitions, with one type of CLMs for each partition; thus any instance for each partition can be designed separately and incorporated easily with the interchangeable property, which makes the framework modular, flexible, and adaptive, to satisfy different kinematics requirements. As a result, the transportation is achieved by RFM control of agents. Also, the RFM framework implies a valuable rigid-closure-method for accurate rigid body manipulation even when agents are not attached to the body.

  15. Concurrent Path Planning with One or More Humanoid Robots

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor)

    2014-01-01

    A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

  16. On Open- source Multi-robot simulators

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-07-01

    Full Text Available Open source software simulators play a major role in robotics design and research as platforms for developing, testing and improving architectures, concepts and algorithms for cooperative/multi-robot systems. Simulation environment enables control...

  17. The promoting mechanism of cooperative goal for the creativity of research team%主动组织遗忘与组织创新的关系研究

    Institute of Scientific and Technical Information of China (English)

    曾俊健; 陈春花; 李洁芳; 刘祯

    2012-01-01

    在丰富的关于组织学习能力对组织创新的文献中,往往忽视了组织遗忘对组织学习能力和组织创新的影响。本研究主要分析主动组织遗忘与组织创新之间的关系,以及组织学习能力对两者关系的中介作用。通过文献探讨构建概念模型,运用珠三角地区219家企业的有效问卷调查数据,对主动组织遗忘、组织学习能力和组织创新之间的关系进行实证研究。结果表明,主动组织遗忘对组织创新的直接效应与间接效应同时存在,组织学习能力在二者之间起着中介作用。本文的结果为组织学习能力的提高和组织创新水平的提升提供了新的路径选择,主动组织遗忘,包括忘却学习和避免恶习,对组织学习能力起着直接正向的推动作用,并且通过组织学习,主动组织遗忘能间接提高组织创新水平。%From a motivated information processing perspective, knowledge sharing as social processing of information and team reflection as cognitive processing of information in the creative process of research team are put forward. A framework that consists of cooperative goal interdependence, knowledge sharing, team reflection, and team creativity is established to describe the effect of cooperative goal interdependence on the creativity of research team. The structural equation modeling is used to analyze the survey data of 225 effective research teams, some conclusions are drawn as follows: Firstly, cooperative goal interdependence has a positive effect on the creativity of research team. Secondly, knowledge sharing and team reflection are found to play a complete mediative role on the relationship between cooperative goal interdependence and team creativity. Thirdly, knowledge sharing has a positive effect on team reflection. These findings make the contribution for opening the black box involving information processing mechanism through which cooperative goal affects the

  18. Sorting and sustaining cooperation

    DEFF Research Database (Denmark)

    Vikander, Nick

    2013-01-01

    This paper looks at cooperation in teams where some people are selfish and others are conditional cooperators, and where lay-offs will occur at a fixed future date. I show that the best way to sustain cooperation prior to the lay-offs is often in a sorting equilibrium, where conditional cooperato...

  19. Supporting Research for "Double Teachers" Team Construction of School-enterprise Cooperation Take Professional Tourism Management School-enterprise Cooperation "Double" Teachers Construction as An Example

    Institute of Scientific and Technical Information of China (English)

    Yuxia Chen

    2015-01-01

    This paper mainly studies cooperative education problems of tourism management professional school-enterprise cooperation. Since the 1990s, many universities have begun to explore the issue of school-enterprise cooperation in running schools, and tourism management major is one of the popular professional cooperative education, there has been various forms of cooperative education, both success and failure cases. Many scholars take in-depth research of the issues and come up with many innovative ideas. Currently, much tourism management major of higher colleges gradually embarked on the road of school-enterprise cooperation. This study is under the background of the booming Chinese tourism higher education, school-enterprises cooperation have continued deepen, from both theoretical and practical aspects have a deep thinking in tourism management professional school-enterprise cooperative education issues systems.

  20. Tandem robot control system and method for controlling mobile robots in tandem

    Energy Technology Data Exchange (ETDEWEB)

    Hayward, David R. (Albuquerque, NM); Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM)

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

  1. Cooperative Strategy of Robot Fish Based on Region Partition and Edge Corner Processing%基于区域划分和边角处理的机器鱼协作策略

    Institute of Scientific and Technical Information of China (English)

    原鑫; 李擎; 苏中; 刘福朝

    2015-01-01

    针对水中机器人全局视觉水球2VS2比赛中出现的水球位于边角的特殊情况,提出一种基于比赛场地的区域划分和边角处理的协作比赛策略。通过对比赛场地的划分,划定了2条机器鱼各自负责的区域,并利用机器鱼顶球方式建立机器鱼运动模型。基于水球位于4个边角的问题,讨论了3种协作方式的利弊,得出执行边角处理时采用1条机器鱼处理边角球,1条机器鱼游到合适的位置进行防守的协作策略为最优。在水中机器人平台上进行协作顶球实验验证,实验结果表明:该方法缩短了处理边角球、边界球的时间,提高了机器鱼的协作和进攻效率,使得水球总是朝着有利于己方的方向运动。%For the special circumstances, which in underwater robot global vision water polo 2VS2 games water polo is located in the edge corner, a venue of the regional partition and edge corner processing based on cooperative game strategy is proposed in this paper. The competition area is divided into different parts that two robotic fishes are separately responsible for their own part, and robotic fish motion model is established by using the ball-pushing movement. Based on the problem that water polo is located in the four edge corners, we discussed the advantages and disadvantages of the three kinds of collaboration, find the cooperative strategy which one robotic fish processes the edge corner case and at the same time the other fish swims to the suitable position for defense is the best. The experimental results that executed in the underwater robot platform show that: this strategy can improve the cooperation ability and scoring efficiency of two robot fishes, shorten the time of processing water polo which is located in edge corner and make water polo movement always in our favor.

  2. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  3. The Human-Robot Interaction Operating System

    Science.gov (United States)

    Fong, Terrence; Kunz, Clayton; Hiatt, Laura M.; Bugajska, Magda

    2006-01-01

    In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API.

  4. 机器人辅助腹腔镜下低位直肠癌根治术的护理配合%Nursing cooperation in robot-assisted radical resection of low rectal carcinoma under laparoscope

    Institute of Scientific and Technical Information of China (English)

    许晓晓; 张秋玲; 李凤云

    2014-01-01

    目的:探讨机器人辅助腹腔镜下低位直肠癌根治术的护理配合方法,提高护士的手术配合质量。方法对48例机器人辅助腹腔镜下低位直肠癌根治术的手术配合进行总结分析。结果48例机器人辅助腹腔镜下低位直肠癌根治术均顺利完成。结论充分的术前准备和完善的术中护理管理是保障手术顺利进行的关键。%Objective To probe into ways of nursing cooperation in robot-assisted radical resection of low rectal carcinoma under laparoscope, thus improve the quality of nursing cooperation. Methods Summarize and analyze 48 cases of nursing cooperation in robot-assisted radical resection of low rectal carcinoma under laparoscope. Results All the 48 cases have been performed successfully. Conclusion The full preoperative preparation and sound intraoperative nursing management are the guarantees of the smooth operation.

  5. A Project Team: a Team or Just a Group?

    Directory of Open Access Journals (Sweden)

    Kateřina

    2014-06-01

    Full Text Available This paper deals with issues related to work in either teams or groups. The theoretical part discusses a team and a group with regards to its definition, classification and basic distinction, brings in more on the typology of team roles, personality assessment and sociometric methods. The analytical part tests the project (work team of a medical center represented in terms of personality and motivational types, team roles and interpersonal team relations concerning the willingness of cooperation and communication. The main objective of this work is to verify the validity of the assumptions that the analyzed team represents a very disparate group as for its composition from the perspective of personality types, types of motivation, team roles and interpersonal relations in terms of the willingness of cooperation and communication. A separate output shall focus on sociometric investigation of those team members where willingness to work together and communicate is based on the authors’ assumption of tight interdependence.

  6. Intraoperative nursing cooperation for robotic-assisted laparoscopic precise liver resection%机器人辅助腹腔镜精准肝切除的手术配合

    Institute of Scientific and Technical Information of China (English)

    许晓晓; 武伟; 李凤云; 孙建荷

    2011-01-01

    Objective To investigate intraoperative nursing cooperation for robotic-assisted laparoscopic precise liver resection. Methods Between April and July 2009, 13 consecutive patients underwent roboticassisted laparoscopic anatomic hepatectomy for benign and malignant hepatic diseases. The clinical data of preoperative preparation, intraoperative cooperation and management of emergency were analyzed retrospectively and summarized gradually. Results All 13 robotic-assisted laparoscopic precise liver resections were performed successfully in the manner of pure laparoscopic resection. The nursing protocol was formulated to improve the preoperative preparation, intraoperative cooperation, management of emergency and postoperative summary. The nursing outcome was satisfactory due to effective nursing strategy. Conclusions Robotic surgery has been expanded into multi-disciplinary field, therefore preparation, communication, discreet placement and protection are important guarantees in its development.%目的 探讨机器人辅助腹腔镜精准肝切除手术的护理配合。方法 回顾性分析13例机器人辅助腹腔镜精准肝切除手术资料,对本组手术的术前准备、术中配合及紧急情况的处理进行总结。结果 13例患者均成功接受了机器人辅助腹腔镜精准肝切除术,术前准备、术中配合、特殊情况应对及术后整理均不断改进,取得满意的护理效果。结论 机器人手术方式扩展到多专科多种术式,准备与沟通、谨慎的安置与保护,是手术护理伴随手术技术发展呈现专科护士作用的重要保障。

  7. 经脐单孔机器人肾囊肿去顶术的护理配合%Nursing cooperation of robotic transumbilical laparoendoscopic single-site renal cyst decortication

    Institute of Scientific and Technical Information of China (English)

    王涛; 李丽霞; 崔冬冬; 刘亚男

    2015-01-01

    目的:探讨经脐单孔机器人肾囊肿去顶术的护理配合。方法通过配合7例采用单孔机器人手术专用器械及单孔复合Port行肾囊肿去顶术,对术前培训、物品准备、床旁机械臂系统摆放、手术配合及围术期器械进行护理管理。结果7例手术均顺利完成,医护配合效果满意。结论术前熟悉单孔复合Port结构及使用方法,了解单孔机器人专用器械特点,掌握手术操作步骤,术者在术中良好的沟通是手术成功的关键。%Objective To explore the nursing efficacy of robotic transumbilical laparoendoscopic single-site renal cyst decortication. Methods Based on the nursing cooperation of 7 patients undergoing robotic transumbilical laparoendoscopic single-site renal cyst decortication, we managed preoperative train, items preparation, bedside mechanical arm system arrangement, cooperation of operation and perioperative devices. Results All the operation of 7 cases were successfully performed, and the nursing cooperation was favorable. Conclusions We well know about the structure, characteristic, procedures and application of the equipment of Robotic Laparoendoscopic Single-Site, combine with the intraoperative communication. All of them play critical roles on the success of the procedure.

  8. 基于虚拟环境的多操作者多机器人协作遥操作系统%Virtual Environment-Based Multi-Operator Multi-Robot Cooperative Teleoperation System

    Institute of Scientific and Technical Information of China (English)

    马良; 闫继宏; 赵杰; 陈志峰

    2011-01-01

    A virtual environment-based multi-operator multi-robot cooperative teleoperation system is proposed, and the software framework of control system with three layered C/S (client/server) structure is adopted.The model of distributed virtual environment is built according to work scene of the experimental platform for accomplishing distributed control of multiple robots by multiple operators.Based on the structure of multi-operator multi-robot teleoperation system, a method based on local lag is presented to realize consistency control in distributed virtual environment, and the problems of clock synchronization, lag time and state repairing in teleoperation system are overcome.Finally, multi-robot cooperative control experiment including different types of cooperation is conducted on the proposed platform, and interaction between the operator and virtual environment is achieved.The operator interacts with virtual environment, observes the task environment and controls the robots in real time with the aid of real-time multi-video image feedback and force feedback, and completes the given task safely and efficiently, which verifies the reasonability and feasibility of the system.%建立了基于虚拟环境的多操作者多机器人协作遥操作系统,采用3层C/S结构的控制系统软件构架.根据实验系统平台工作场景对分布式虚拟环境进行建模,以实现多操作者对多机器人的分布式控制.结合多操作者多机器人遥操作系统的结构特点,采用本地滞后原理对分布式虚拟环境的一致性控制进行了研究,解决了遥操作系统一致性控制中时钟同步、滞后时间、状态修复等问题.最后在提出的系统平台上进行了不同协作类型的多机器人协调控制实验,操作者与虚拟环境进行交互,在力反馈及实时多视频图像反馈辅助下,实时地观察作业环境并控制机器人运动,安全、高效地完成了作业任务,验证了该系统的合理性和有效性.

  9. 临时型知识团队合作治理中社会约束影响的实验研究%An Experimental Study on the Effect of Social Restriction in Cooperation Governance for Temporary Knowledge Teams

    Institute of Scientific and Technical Information of China (English)

    林润辉; 范建红; 黄传锋

    2009-01-01

    Based on relative theories, this paper shows some influencing factors which have effect on the cooperation of the Temporary Knowledge Teams (TKTs) members through the team dynamic mechanisms. With the theory of peer pressure, it proposes the hypothesis that social restriction can motivate the members to cooperate with each other in TKTs and social restriction includes economic constraint and non-economic constraint. Through adopting the public goods experimental design, we design an experiment with the ideology of experimental economics to simulate the construction and the operation of the TKTs to verify the effect of social restriction. The core thought of the public goods experimental design is trying to inspecting the group's investment behavior tendency to the public interest with the money as stimulation. It means that the more the public investment, the more favorable the subjects to the cooperation. The 32 subjects were undergraduate students and the graduate students of Nankai University who can embody the features of the members of temporary knowledge teams. The results of the experiment show that social restriction can motivate the members to cooperate more smoothly and deeply in TKTs. Finally, we put forward several proposals for the mechanism design of TKTs' cooperation. First, it's useful to introduce the economic constraints and the social sanction to promote the cooperation among TKTs members. Second, classification management should be applied to the TKTs ' members, it means that to the 100%-PCR(Public Contribution Rate) members, we should commend them appropriately; to the 1-99%-PCR members, we should implement the effective social restriction mechanisms to urge them to cooperate with others; and to the 0%-PCR members, we should reject them from the group as possible as one can. Third, it's necessary and helpful to build fair team atmosphere to promote the member's cooperation and the performance of the team through the adoption of social

  10. 基于协作文化视阈下的高校实验教学团队建设%Establishment of Experimental Teaching Team in Colleges and Universities Based on the View of Cooperation

    Institute of Scientific and Technical Information of China (English)

    柯红岩; 李帅; 刘云; 钱大益; 杨超华

    2012-01-01

    加强本科教学团队建设,建立有效的团队合作机制,是教育部近年来启动的“高等学校本科教学质量与教学改革工程”的重要内容之一.以协作文化的视角,通过对实验教学团队的文化取向的论述,反思协作文化的构建,最终对高校实验教学团队构建对策予以初步的探讨.%The enhancement of the construction of undergraduate teaching team and the establishment of an effective teamwork mechanism is one of the most important contents of " Undergraduate teaching quality and teaching reform project in colleges" , which was launched by the Ministry of Education in recent years. This paper elaborated on, from the view of cooperation culture, the countermeasure of experimental teaching team construction in colleges by the discourse of the cultural orientation in the experimental teaching team and the introspection of the cooperation culture building.

  11. A Study on the Cooperation Behavioral of Multi-Participates Project Team%基于互惠偏好的多主体参与项目团队合作行为

    Institute of Scientific and Technical Information of China (English)

    韩姣杰; 周国华; 李延来; 蔡屹

    2012-01-01

    Multi-agent cooperation will be the future trend of the development of project team. The behavioral choice strategy of project team members who come from different firms or organizations has a great impact on the cooperation efficiency of project team directly, and further inferences the success of a project. Based on social preference theory, we construct a principal-agency model of multi-agents in a project team under reciprocity preferences to compare the behavioral choices of agents under rationality and reciprocity, We also analyze the influence of reciprocity preference on behavioral choices of agents, team performance and the effective of incentives. The results indicate that the promotion effect of reciprocity on project team cooperation and performance are not absolutely positive, However it may enhance the incentive effectiveness of profit sharing. The theoretical results were tested by a case study as well.%多主体参与的项目团队合作模式将是未来发展的趋势,并且来自不同主体的团队成员的行为选择策略将会直接影响到团队的合作效率,甚至影响项目成败.依据社会偏好理论,在考虑代理人互惠偏好的前提下,构建了来自不同主体的多个代理人的项目团队委托代理模型,将代理人在完全理性条件下和互惠条件下的行为选择进行了比较,分析了互惠偏好对代理人努力选择、团队绩效和项目团队激励效果的影响.结果表明:互惠偏好对项目团队合作和团队绩效的促进作用并非具有绝对性,但能够提高利润分享的激励效果.最后,通过案例研究对理论研究结果进行了验证.

  12. Team collaboration in Dutch paediatric rehabilitation. Cooperation between parents, rehabilitation professionals and special education professionals in the care for children with cerebral palsy

    NARCIS (Netherlands)

    Nijhuis, Bianca Gertruda Johanna

    2007-01-01

    This thesis describes the collaborative processes in Dutch paediatric teams engaged in the care for children with cerebral palsy (CP). The three main stakeholder groups in these teams are the parents and the professionals in child rehabilitation and special education. Although the need for close

  13. Advances in Robotics and Virtual Reality

    CERN Document Server

    Hassanien, Aboul

    2012-01-01

    A beyond human knowledge and reach, robotics is strongly involved in tackling challenges of new emerging multidisciplinary fields. Together with humans, robots are busy exploring and working on the new generation of ideas and problems whose solution is otherwise impossible to find. The future is near when robots will sense, smell and touch people and their lives. Behind this practical aspect of human-robotics, there is a half a century spanned robotics research, which transformed robotics into a modern science. The Advances in Robotics and Virtual Reality is a compilation of emerging application areas of robotics. The book covers robotics role in medicine, space exploration and also explains the role of virtual reality as a non-destructive test bed which constitutes a premise of further advances towards new challenges in robotics. This book, edited by two famous scientists with the support of an outstanding team of fifteen authors, is a well suited reference for robotics researchers and scholars from related ...

  14. Team members cheer their team during FIRST competition

    Science.gov (United States)

    2000-01-01

    Members of a FIRST robotic team cheer their teammates on during early competition at the FIRST (For Inspiration and Recognition of Science and Technology) Southeast Regional competition held March 9-11 in the KSC Visitor Complex Rocket Garden. Teams of high school students from all over the country are testing the limits of their imagination using robots they have designed, with the support of business and engineering professionals and corporate sponsors, to compete in a technological battle against other schools' robots. Of the 30 high school teams competing at the Southeast Regional event, 16 are Florida teams co-sponsored by NASA and KSC contractors. Local high schools participating are Astronaut, Bayside, Cocoa Beach, Eau Gallie, Melbourne, Melbourne Central Catholic, Palm Bay, Rockledge, Satellite, and Titusville.

  15. 浅谈小组合作中“独立性”的培养策略%Introduction to the Cultivation of the“Independence”in the Team Cooperation Strategy

    Institute of Scientific and Technical Information of China (English)

    黄海燕

    2014-01-01

    随着教学改革的不断深入,小组合作学习开展得如火如荼。如何处理好合作学习与独立思考的关系,让学生带着“独立思考”的理性光芒真正参与小组合作学习,在合作中收获成长呢?提出了三条策略:学困生通过预习带着困惑进入小组合作;学优生带着“启发问题”,进入小组合作;“小组合作”的课后延伸---课后数学日记,独立思考的载体利用。旨在通过这些策略的应用,促进学生独立思维,让思维“立”起来,“活”起来,“优”起来,更好地开展小组合作学习。%With the deepening of teaching reform,cooperative le arning group in full swing.How to deal with the relationship between cooperative learning and independent thinking,lets the student with the“independent thinking”rational light really participate in cooperative learning group,harvest the growth in the cooperation? This paper puts forward three strategies: poor student through preview with confusion into the team cooperation;Learning eugenics with“inspired”,enter the team cooperation;“Team”extension after class,after class mathematical diary,the carrier of independent thinking. Through the application of these strategies,promote the students' independent thinking ability,let the thought“stand up”,“live”,“optimal”rise,to better carry out cooperative learning group.

  16. Revealing unexpected effects of rescue robots’ team-membership in a virtual environment

    NARCIS (Netherlands)

    Horsch, C.H.G.; Smets, N.J.J.M.; Neerincx, M.A.; Cuijpers, R.A.

    2013-01-01

    In urban search and rescue (USAR) situations resources are limited and workload is high. Robots that act as team players instead of tools could help in these situations. A Virtual Reality (VR) experiment was set up to test if team performance of a human-robot team increases when the robot act as suc

  17. Revealing unexpected effects of rescue robots’ team-membership in a virtual environment

    NARCIS (Netherlands)

    Horsch, C.H.G.; Smets, N.J.J.M.; Neerincx, M.A.; Cuijpers, R.H.

    2013-01-01

    In urban search and rescue (USAR) situations resources are limited and workload is high. Robots that act as team players instead of tools could help in these situations. A Virtual Reality (VR) experiment was set up to test if team performance of a human-robot team increases when the robot act as suc

  18. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Development for practical application of new power generation technology; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the development for practical application of a new power generation technology for the human cooperative and coexisting (humanoid) robot system. Carrying out the development smoothly and efficiently requires accumulation of the system operational know-how, as well as the periodical check and maintenance to maintain the functions and performances of the robot platform having been developed in the previous fiscal year. Checks were given on the robot platform hardware, and no anomalies were verified in all operation. For the remote operation platform, normal operations were identified in the visual and audio information presenting and communication systems, including such components as the PCI, noise removing card, three-dimensional microphone, and SGI320. Operations were confirmed on the movement and operation sensing and presenting system, whereas no change has been found in the operation for the period of one year, and sufficient performance was maintained. For the virtual robot platform, the operation was made open to public on the basic operation library network interface. No operational defects, damages, wear, and electrical failures were found in the master hand for the remote control by hands, force sense presentation, finger and wrist position detection, and contact angle presentation. (NEDO)

  19. Review: Christine von Blanckenburg, Birgit Böhm, Hans-Luidger Dienel & Heiner Legewie (2005. Leitfaden für interdisziplinäre Forschergruppen: Projekte initiieren – Zusammenarbeit gestalten [Guidelines for Interdisciplinary Research Teams: Initiating Projects—Developing Cooperation

    Directory of Open Access Journals (Sweden)

    Iris Rittenhofer

    2008-01-01

    Full Text Available Today, project-oriented work is an integral part of academic life. However, not all academics are ready to cope with this organizational aspect of scientific work or with the management of research teams. "Guidelines for Interdisciplinary Research Teams" provides a detailed outline of the various project stages, the potential conflicts and burgeoning power issues, as well as the basics and techniques of moderation. This volume offers excellent insight into the scientific enterprise and provides useful strategic options for managing teamwork. Thus, the volume is suitable for two purposes, namely as a set of guidelines for those inexperienced in scientific cooperation, and as a reference book for those who want to master their previous project experiences and utilize them in future enterprises. However, the intercultural aspect of scientific project organization is not discussed in the volume. URN: urn:nbn:de:0114-fqs0801179

  20. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  1. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire; Duca, Edward

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  2. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  3. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  4. 有限理性条件下项目团队合作中多代理人行为演化%Research on Multi-Agent Evolutionary Behavior with Bounded Rationality in Project Team Cooperation

    Institute of Scientific and Technical Information of China (English)

    韩姣杰; 周国华; 李延来; 陆绍凯

    2011-01-01

    项目团队成员的行为策略选择将会直接影响到团队合作效率,甚至影响项目的成败.运用行为经济学的相关理论,以有限理性为假设前提,建立了基于异质群体的动态演化博弈模型,对项目团队合作中多代理人的行为进行了研究,分析了委托人的监督策略、利润分享系数,以及代理人的贡献度、团队合作度,其他代理人的行为对代理人行为选择策略的影响,为降低项目团队合作中的道德风险和提高团队整体绩效提供了策略建议.通过案例研究对得出的结论进行了检验,结果表明,该结论在实际项目中对提高项目整体绩效水平有很好的指导作用.%The behavior strategies that project team members chose will directly have a great impact on the cooperation efficiency of project team, and will further influence the success of project. By using the relative theory of behavioral economics, this paper built an evolutionary game model based on heterogeneous group under the assumption of bounded rationality in order to analyze the influences of principal's supervision strategy, profit sharing coefficient, agent's contribution, team cooperation degree, and the behavior choices of the other agents on the behavior choices of an given agent. The results of this paper have provided theoretical supports and strategic suggestions on how to reduce the moral hazards with respect to the cooperation of project team, as well as how to improve the team performance. Finally, a case study was carried out so as to test previous theoretical results, and it found that the theoretical results played a conducting role in improving the overall project performance in actual projects.

  5. Distributed Estimation and Control for Robotic Networks

    NARCIS (Netherlands)

    Simonetto, A.

    2012-01-01

    Mobile robots that communicate and cooperate to achieve a common task have been the subject of an increasing research interest in recent years. These possibly heterogeneous groups of robots communicate locally via a communication network and therefore are usually referred to as robotic networks. The

  6. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  7. An object-based interaction framework for the operation of multiple field robots

    Science.gov (United States)

    Jones, Henry Lee, II

    Today's field robots, such as the Sojourner Mars rover or the Predator unmanned aerial vehicle, work alone to accomplish dirty, dull, or dangerous missions. Plans for the next generation of robotic systems call for multiple field robots to conduct these missions cooperatively under the direction of a single operator. This research examines the role of the operator in multiple-robot missions and creates a human-robot interaction framework that supports this role---a vital step toward the successful deployment of these future robots. In a typical user-centered approach to the development of a human-robot interaction framework, the work practices of the robot operator would be observed, characterized, and integrated into the design. Unfortunately, there are no settings where one can study the operator of multiple robots at work because no such systems have been deployed. As an alternative, this research incorporated a surrogate setting that could be used to inform the early interaction design of multiple-robot systems. Police Special Weapons and Tactics (SWAT) teams were chosen as this setting, and an ethnographic study of SWAT commanders was conducted. Concepts from the interdisciplinary study of geographically distributed work, including common ground, shared mental models, and information sharing, were used to understand and characterize the ethnographic observations. Using lessons learned from the surrogate setting, an implementation of a new human-robot interaction framework was demonstrated on the Micro Autonomous Rovers (MAR) platform in the Aerospace Robotics Laboratory at Stanford University. This interaction framework, which is based on the sensing and manipulation of physical objects by the robots, was derived from the finding that references to physical objects serve as an essential communication and coordination tool for SWAT commanders. A human-computer interface that utilizes direct manipulation techniques and three-dimensional computer graphics was

  8. 全机器人辅助低温灌注下肾部分切除术的护理配合%Nursing cooperation of cold intravascular perfusion during Robot-assisted laparoscopic partial nephrectomy

    Institute of Scientific and Technical Information of China (English)

    王涛; 李丽霞; 董薪; 蔡康灵

    2014-01-01

    目的:探讨全机器人辅助低温灌注下肾部分切除术下的护理配合流程,提高护士的手术配合质量。方法通过配合10例全机器人辅助低温灌注下肾部分切除手术,对术前物品准备、手术间布局,术中体位摆放及手术精准配合进行总结。结果10例手术顺利完成,无中转开腹,手术配合满意。结论准备好特殊手术物品,熟练的手术操作步骤,与手术医生积极沟通,掌握机器人各系统的使用情况是确保手术成功的关键。%Objective To explore the nursing cooperation during cold intravascular perfusion during robot-assisted laparoscopic partial nephrectomy. Methods Ten patients with renal cancer underwent robot-assisted laparoscopic partial nephrectomy using renal arterial perfusion with cold,the experience including preoperative preparation,intraoperative positioning and cooperation, and perioperative management of devices were drawn. Results All operative procedures were successfully performed. Conclusion Preoperative preparation,intraoperative communication and the skillful use of robotˊs system play critical roles on the success of the procedure.

  9. A two-stage method for cooperative target allocation in UAV teams%多无人机编队协同目标分配的两阶段求解方法

    Institute of Scientific and Technical Information of China (English)

    叶青松; 胡笑旋; 马华伟

    2015-01-01

    Cooperative target allocation in unmanned aerial vehicle (UAV) teams is a class of combina‐torial optimization problems .The conventional methods for solving it can not meet the solving speed requirements in the battlefield environment .A two‐stage target allocation method is proposed ,which decomposes the problem into two stages :allocation at team level and allocation within teams .First , the target allocation at team level is calculated by K‐Medoids algorithm ,so each UAV team targets a cluster .Then the allocations within teams are solved by mixed integer linear programming model and ant colony algorithm ,so each UAV attacks several targets in the cluster .The two‐stage method re‐duces the difficulties in solving cooperative target allocation problem .The simulation results show that the method is feasible and effective ,and it improves the solution efficiency and shortens the solu‐tion time significantly .%多无人机编队协同目标分配是一类组合优化问题,常规的求解方法难以满足战场环境对求解速度的要求。文章提出了一种两阶段目标分配方法,将该问题分解成编队级分配和编队内分配2个阶段。首先通过K‐M edoids聚类算法实现编队级目标分配,将目标簇分配到无人机编队,然后通过混合整数线性规划模型和蚁群算法实现编队内目标分配,将目标分配到无人机。通过两阶段求解,降低多无人机编队协同目标分配问题的求解难度。仿真结果表明,该方法可行且有效,能够提高求解效率,大幅度缩短求解时间。

  10. Voluntary versus Enforced Team Effort

    Directory of Open Access Journals (Sweden)

    Claudia Keser

    2011-08-01

    Full Text Available We present a model where each of two players chooses between remuneration based on either private or team effort. Although at least one of the players has the equilibrium strategy to choose private remuneration, we frequently observe both players to choose team remuneration in a series of laboratory experiments. This allows for high cooperation payoffs but also provides individual free-riding incentives. Due to significant cooperation, we observe that, in team remuneration, participants make higher profits than in private remuneration. We also observe that, when participants are not given the option of private remuneration, they cooperate significantly less.

  11. Designing in teams : does personality matter?

    NARCIS (Netherlands)

    Peeters, Miranda A.G.; Rutte, Christel G.; van Tuijl, Harrie F.J.M.; Reymen, Isabelle

    2008-01-01

    Twenty-six multidisciplinary student design teams (n = 128) each built a robot that had to perform a specific task in a design contest. For these teams, an input—process—output framework of team member personality (input), generic and specific design behaviors (process), and contest result and

  12. On the Construction of Teaching Team in Higher Vocational Colleges Through College -Enterprise Cooperation%校企合作建设高职专业教学团队的策略探究

    Institute of Scientific and Technical Information of China (English)

    王运宏; 徐丽玲

    2014-01-01

    The enterprise absence led to higher vocational professional teaching team is weak , such as part -time teacher absence makes the team structure and scale is not up to the requirements ,a part-time post of full -time teach-ers absence makes difficult to effectively into the enterprise post training ,corporate culture is difficult to form due to the absence of the team competition ,efficiency of atmosphere.Therefore ,through the construction and improvement of higher vocational professional teaching mode ,project team studio model ,virtual mode ,promote the professional teaching team in Higher Vocational depth fusion ,and by promoting school enterprise cooperation ,promote team depth fusion ,improve the team training ,to further enhance the build frequency ,build content rich ,enhance the building and depth ,and by strengthening the conditions ,system and organization guarantee ,improve team overall strength.%企业缺位导致高职专业教学团队乏力,如兼职教师缺位使得团队结构与规模达不到要求,兼职岗位缺位使得专任教师难以有效深入企业顶岗培训,企业文化缺位造成团队难以形成竞争、效率等氛围。为此,可通过构建并完善高职专业教学团队项目模式、工作室模式、虚拟模式,推动高职专业教学团队深度融合,并通过推进校企合作、促进团队深度融合、完善团队培训,以进一步增强共建频率、丰富共建内容,提高共建深度,并通过强化条件、制度、组织保障,提升团队整体实力。

  13. 基于能力培养和团队协作的通信电子电路实验考核模式%Assessment mode for communication electronic circuit experiment based on capacity cultivation and team cooperation

    Institute of Scientific and Technical Information of China (English)

    车辚辚; 余萍; 程文清; 李然

    2012-01-01

    针对通信电子电路实验教学改革,提出了基于能力培养和团队协作的通信电子电路实验考核模式.该考核模式以表现性评价为标准,对学生的实验成绩进行量化评价,着重对学生的综合实验技能和团队协作能力进行考核.新的考核模式有助于提高教学质量和学生素质,并且考核结果具有更强的可靠性和公平性.%In view of teaching reform of communication electronic circuit experiment, the assessment mode for communication electronic circuit experiment based on ccapacity cultivation and team cooperation has been proposed, which takes the performance assessment as the standard. Experimental scores of students can be got by the mode with the quantifiable assessment. The assessment mode focuses on students' comprehensive experiment quality and team cooperation. Practice shows the effectiveness of proposed method in teaching quality and improving students' quality. Moreover assessment results are greater reliability and fairness.

  14. Teleautonomous Control on Rescue Robot Prototype

    Directory of Open Access Journals (Sweden)

    Son Kuswadi

    2012-12-01

    Full Text Available Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.

  15. Autonomous multi-robot exploration in communication-limited environments

    NARCIS (Netherlands)

    de Hoog, J.; Cameron, S.; Visser, A.; Belpaeme, T.; Bugmann, G.; Melhuish, C.; Witkowski, M.

    2010-01-01

    Teams of communicating robots are likely to be used for a wide range of applications in the near future, such as robotic search and rescue or robotic exploration of hostile and remote environments. In such scenarios, environments are likely to contain significant interference and multi-robot systems

  16. Robotic nurse duties in the urology operative room: 11 years of experience

    Directory of Open Access Journals (Sweden)

    Ali Abdel Raheem

    2017-04-01

    Full Text Available The robotic nurse plays an essential role in a successful robotic surgery. As part of the robotic surgical team, the robotic nurse must demonstrate a high level of professional knowledge, and be an expert in robotic technology and dealing with robotic malfunctions. Each one of the robotic nursing team “nurse coordinator, scrub-nurse and circulating-nurse” has a certain job description to ensure maximum patient's safety and robotic surgical efficiency. Well-structured training programs should be offered to the robotic nurse to be well prepared, feel confident, and maintain high-quality of care.

  17. Towards team formation via automated planning

    NARCIS (Netherlands)

    Muise, Christian; Dignum, Frank; Felli, Paolo; Miller, Tim; Pearce, Adrian R.; Sonenberg, Liz

    2016-01-01

    Cooperative problem solving involves four key phases: (1) finding potential members to form a team, (2) forming the team, (3) formulating a plan for the team, and (4) executing the plan. We extend recent work on multi-agent epistemic planning and apply it to the problem of team formation in a blocks

  18. Robots and Humans: Synergy in Planetary Exploration

    Science.gov (United States)

    Landis, Geoffrey A.

    2003-01-01

    How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments.

  19. 跨界合作理念下高职师资队伍建设研究%The Study on the Organization of Teachers' Team in Higher Vocational Schools under the Conception of Cross-border Cooperation

    Institute of Scientific and Technical Information of China (English)

    王书润

    2012-01-01

    通过对近十多年来高职师资队伍建设实践的研究发现,“跨界合作”已经成为引领和指导高职师资队伍建设新理念,提出“跨界合作”理念是在我国社会经济发展方式转型升级、高职教育事业自身不断发展和对高职教育规律深刻认识的背景下逐渐明晰起来的观点,梳理了在“跨界合作”理念的引领和指导下,高职师资队伍建设经历的从“双师型”到“双师素质”再到“双师结构”的各具特色的三个不同发展阶段。%Over a decade, the studies on the practice of the organization of teachers' team in higher vocational schools show that "cross-border cooperation" has become a new conception leading and guiding the organization of teachers' team. The conception of "cross-border cooperation" gradually surfaced with the transformation and upgrade of China's social and economic developing model when higher vocational schools had been developing and the laws of education had been fully learned. This paper elaborates the three different phases of the organiza- tion of teachers' team in higher vocational schools, under the leadership and guidance of "cross-border coopera- tion", from "double qualification" to "the quality of double qualification" and then to "the construction of double qualification".

  20. Reducing the High School DCT Cooperative Education Drop Out Rate through an Employer/Student Mentor Program and At-Risk Teams.

    Science.gov (United States)

    Cragar, Mary A.

    This practicum sought to understand why students in a Diversified Cooperative Training (DCT) program did not see the need to earn good grades or to complete their high school education. One hundred DCT programs were surveyed statewide, and it was found that 66 percent reported problems with attendance, 35 percent revealed problems with student…

  1. Collective Energy Foraging of Robot Swarms and Robot Organisms

    CERN Document Server

    Kernbach, Serge

    2011-01-01

    Cooperation and competition among stand-alone swarm agents increase collective fitness of the whole system. A principally new kind of collective systems is demonstrated by some bacteria and fungi, when they build symbiotic organisms. Symbiotic life forms emerge new functional and self-developmental capabilities, which allow better survival of swarm agents in different environments. In this paper we consider energy foraging scenario for two robotic species, swarm robots and symbiotic robot organism. It is indicated that aggregation of microrobots into a robot organism can provide better functional fitness for the whole group. A prototype of microrobots capable of autonomous aggregation and disaggregation are shown.

  2. Vision-guided heterogeneous mobile robot docking

    Science.gov (United States)

    Spofford, John R.; Blitch, John; Klarquist, William N.; Murphy, Robin R.

    1999-08-01

    Teams of heterogeneous mobile robots are a key aspect of future unmanned system for operations in complex and dynamic urban environments, such as that envisioned by DARPA's Tactical Mobile Robotics program. One examples of an interaction among such team members is the docking of small robot of limited sensory and processing capability with a larger, more capable robot. Applications for such docking include the transfer of power, data, and materia, as well as physically combined maneuver or manipulation. A two-robot system is considered in this paper. The smaller 'throwable' robot contains a video camera capable of imaging the larger 'packable' robot and transmitting the imagery. The packable robot can both sense the throwable robot through an onboard camera, as well as sense itself through the throwable robot's transmitted video, and is capable of processing imagery from either source. This paper describes recent results in the development of control and sensing strategies for automatic mid-range docking of these two robots. Decisions addressed include the selection of which robot's image sensor to use and which robot to maneuver. Initial experimental results are presented for docking using sensor data from each robot.

  3. Evaluation of a Core Team Centred Professional Development Programme for Building a Whole-School Cooperative Problem Solving Approach to Conflict

    Science.gov (United States)

    White, Andrew Jonathan; Wertheim, Eleanor H.; Freeman, Elizabeth; Trinder, Margot

    2013-01-01

    This study evaluated a professional learning approach using a core team (CT) model to assist primary (elementary) schools to develop whole-school collaborative conflict resolution processes. Thirteen schools were matched and randomly assigned to the enhancing relationships in school communities programme ("n"?=?10) or a non-programme control group…

  4. 考虑通信状况的多机器人CSLAM问题综述%An Overview on the Cooperative SLAM Problem of Multi-robot Systems Considering Communication Conditions

    Institute of Scientific and Technical Information of China (English)

    张国良; 汤文俊; 曾静; 徐君; 姚二亮

    2014-01-01

    The communication conditions can affect the design and realization of cooperative simultaneous localization and mapping (CSLAM) algorithms directly. According to the different focuses among the assumptions on the com-munication conditions of multi-robot systems, the state-of-the-art research advances of multi-robot CSLAM algorithms are presented in this paper. Firstly, the characters and drawbacks of the centralized CSLAM algorithm based on fully connected communication condition are introduced. Secondly, in the situation of unknown initial correspondence of the multi-robot system, the map merging issue of distributed CSLAM algorithm based on limited communication range and bandwidth is analyzed and defined in terms of map alignment, data association and map fusion. Furthermore, some of the latest research achievements on distributed CSLAM algorithm considering sparse-dynamic communication situation are also presented. Finally, the prospect of future research in the area of multi-robot CSLAM is summarized.%多机器人系统的通信状况能够直接影响协作同时定位与地图创建(Cooperative simultaneous localization and mapping, CSLAM)算法的设计和实现。根据对多机器人通信状况所作出假设的侧重点不同,对多机器人CSLAM 算法研究现状和进展进行综述。首先,简要介绍了基于完全连通通信条件的集中式CSLAM 算法的特点和缺陷;其次,结合多机器人系统初始相对位姿关系未知的情况,从地图配准、数据关联和地图融合等三个方面,对基于通信范围或者带宽受限条件的分布式CSLAM 算法的地图合并问题进行了分析和阐述;进而重点对考虑稀疏-动态通信状况的分布式CSLAM 算法的最新研究成果进行了归纳总结。最后指出多机器人CSLAM研究领域今后的研究方向。

  5. Multi-Robot Systems for Subsurface Planetary Exploration Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed innovation is a heterogeneous multi-robot team developed as a platform for effective subsurface planetary exploration. State-of-art robotic exploration...

  6. Robot and robot system

    Science.gov (United States)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  7. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Development of energy usage rationalizing technology; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the operational research on the human cooperative and coexisting (humanoid) robot system to rationalize energy usage. Operational method and maintenance were studied on the platform hardware that has been developed in the previous fiscal year. Checks were given periodically on the robot platform hardware, and no anomalies were verified in all operation. Verifications were made on the fasteners, additional tightening, fitting of the connectors, battery checks, zero position and step response checks, and output checks on the force component sensor, gyro sensor and G sensor. For the virtual robot platform, discussions were given on the basic movement library for the geography complying three-dimensional walking. Such configurations were constituted that integrated use is possible with the simulator system by connecting the networks, and the user can instruct the CORBA server with the generation of walking movements according to the GUI by using the general purpose WWW browser to connect it to the HTTP server, whose result can be verified by three-dimensional graphics. A method to stabilize the all-axis movement servo model was made open to public. (NEDO)

  8. Evidence Report: Risk of Performance and Behavioral Health Decrements Due to Inadequate Cooperation, Coordination, Communication, and Psychosocial Adaptation Within a Team

    Science.gov (United States)

    Landon, Lauren Blackwell; Vessey, William B.; Barrett, Jamie D.

    2015-01-01

    A team is defined as: "two or more individuals who interact socially and adaptively, have shared or common goals, and hold meaningful task interdependences; it is hierarchically structured and has a limited life span; in it expertise and roles are distributed; and it is embedded within an organization/environmental context that influences and is influenced by ongoing processes and performance outcomes" (Salas, Stagl, Burke, & Goodwin, 2007, p. 189). From the NASA perspective, a team is commonly understood to be a collection of individuals that is assigned to support and achieve a particular mission. Thus, depending on context, this definition can encompass both the spaceflight crew and the individuals and teams in the larger multi-team system who are assigned to support that crew during a mission. The Team Risk outcomes of interest are predominantly performance related, with a secondary emphasis on long-term health; this is somewhat unique in the NASA HRP in that most Risk areas are medically related and primarily focused on long-term health consequences. In many operational environments (e.g., aviation), performance is assessed as the avoidance of errors. However, the research on performance errors is ambiguous. It implies that actions may be dichotomized into "correct" or "incorrect" responses, where incorrect responses or errors are always undesirable. Researchers have argued that this dichotomy is a harmful oversimplification, and it would be more productive to focus on the variability of human performance and how organizations can manage that variability (Hollnagel, Woods, & Leveson, 2006) (Category III). Two problems occur when focusing on performance errors: 1) the errors are infrequent and, therefore, difficult to observe and record; and 2) the errors do not directly correspond to failure. Research reveals that humans are fairly adept at correcting or compensating for performance errors before such errors result in recognizable or recordable failures

  9. 1st Iberian Robotics Conference

    CERN Document Server

    Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

    2014-01-01

    This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

  10. The Concept of Teacher-team Cooperative Instruction and Its Supporting System Design%教师团队协同教学理念及其支撑系统的设计与实现

    Institute of Scientific and Technical Information of China (English)

    王志军; 余胜泉

    2015-01-01

    There are many problems of the public courses teaching in higher education, such as overloaded teachers, lacking deep teaching and research,course content updated slowly,repeated construction of the same courses by different teachers which are hardly to be reused. In order to solve the problems mentioned above, the concept of teacher-team cooperative instruction based on Learning Management System (LMS), including teacher team building, cooperative course construction, classes ’ management, coopera-tive instruction plan for individualized instruction, is pro posed. The system is designed and developed on 4A LMS, which has func-tions of class management, co-construction and sharing of curriculum and teaching programs, aggregation of generated resources, per-sonalized instruction. The system can promote the course sharing among more teachers and more classes, and help teachers to build high-quality courses for cooperative teaching.%目前,我国高校公共课教学中普遍存在教师负担过重,深层次教研缺失,内容更新缓慢,课程难以共享重用等问题。针对这些问题,提出了基于网络教学平台开展教师团队协同共建共享课程、一门课程对应多个班级的协同教学理念。从教师团队的组建、协同网络课程建构、协同教学的班级管理、协同教学计划的制定与个性化教学的实施四个方面,阐述了协同教学的理念与机制,并依托4A网络教学平台设计和开发了该系统。它具有班级组织、协同课程和教学计划共建共享、生成性资源聚合、个性化教学实施等功能,能促进课程在多名教师、多个班级和多个学期之间共享,为教师团体协作构建高质量的网络课程、协同教学质量的提高提供有效的支持。

  11. UROLOGIC ROBOTS AND FUTURE DIRECTIONS

    Science.gov (United States)

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2009-01-01

    Purpose of review Robot-assisted laparoscopic surgery in urology has gained immense popularity with the Da Vinci system but a lot of research teams are working on new robots. The purpose of this paper is to review current urologic robots and present future developments directions. Recent findings Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. Summary The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks based on medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for remote system could be augmented reality, haptic feed back, size reduction and development of new tools for NOTES surgery. The paradigm of image-guided robots is close to a clinical availability and the most advanced robots are presented with end-user technical assessments. It is also notable that the potential of robots lies much further ahead than the accomplishments of the daVinci system. The integration of imaging with robotics holds a substantial promise, because this can accomplish tasks otherwise impossible. Image guided robots have the potential to offer a paradigm shift. PMID:19057227

  12. FIRST Robotics Kickoff

    Science.gov (United States)

    2007-01-01

    NASA engineers Scott Olive (left) and Bo Clarke answer questions during the 2007 FIRST (For Inspiration and Recognition of Science and Technology) Robotics Competition regional kickoff event held Saturday, Jan. 6, 2007, at StenniSphere, the visitor center at NASA Stennis Space Center near Bay St. Louis, Miss. The SSC employees and FIRST Robotics volunteer mentors are standing near a mock-up of the playing field for the FIRST Robotics' 2007 `Rack n' Roll' challenge. Roughly 300 students and adult volunteers - representing 29 high schools from four states - attended the kickoff to hear the rules of `Rack n' Roll.' The teams will spend the next six weeks building and programming robots from parts kits they received Saturday, then battle their creations at regional spring competitions in New Orleans, Houston, Atlanta and other cities around the nation. FIRST aims to inspire students in the pursuit of engineering and technology studies and careers.

  13. Tank-automotive robotics

    Science.gov (United States)

    Lane, Gerald R.

    1999-07-01

    To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

  14. 起重吊装多机器人系统协作避障规划研究%Research of Cooperation Obstacle Avoidance Planning for Hoisting Multi-robot System

    Institute of Scientific and Technical Information of China (English)

    林俊; 訾斌; 吴瑕

    2012-01-01

    针对起重吊装多机器人系统实际作业情况,进行了该机器人系统协作避障规划研究.首先,基于栅格法提出了优化姿态转角--动态栅格法的路径规划改进算法;其次,设计了基于传感器技术的自适应协作系统.该协作避障方法具备了寻找全局最优路线的能力,同时实现了多机器人系统内部的稳定协调合作;最后,建立了Matlab与LabVIEW联合仿真系统,仿真结果表明该系统是可行且高效的.%According to the practical operation of hoisting multi-mobile robots system,the cooperation obstacle avoidance planning was studied. Firstly,an improvement algorithm of optimization of the attitude angle-dynamic grid method for path planning was proposed based on grid method. In addition,the adaptive cooperation system was designed based on sensor technology. The system has the ability to search for the global optimal path,and the stable coordination of the multi-mobile robots internal system was achieved. Finally,the co-simulation system was built using Matlab and LabVIEW. Simulation results show that the system was feasible and efficient.

  15. Cooperative multi-robot localization based on particle swarm optimization in the environment of wireless sensor%无线传感器环境下粒子群优化的多机器人协同定位研究

    Institute of Scientific and Technical Information of China (English)

    程磊; 周明达; 吴怀宇; 李杰; 王永骥

    2015-01-01

    协同定位是多机器人自主行为的一项重要技术,重点描述了无线传感器网络环境下结合粒子群优化提出多机器人协同定位算法。该算法引入重采样,解决了粒子耗尽问题,扩大了解空间的范围,保证了种群的多样性,并且引入了惯性权重解决了粒子退化的问题。仿真结果表明,利用无线传感器网络进行辅助导航,采用粒子群优化算法,综合无线传感器网络进行辅助导航,融合各个机器人观测信息,可以降低求解问题的空间维数,在高斯噪声下能有效提高移动机器人定位精度。%Cooperative localization is an important technique of multi-robot ’ s autonomous behavior .In this paper , the multi-robot cooperative localization algorithm based on the optimization of particle swarm optimization under wireless sensor network environment is described .The resampling algorithm is introduced to solve the problem of particle depletion , enlarge the scope of solution space and guarantee the diversity of population .The introduction of inertia weight provides a solution for the particle degradation .Simulation results showed that by using the particle swarm optimization algorithm , which is supported by wireless sensor network to assist navigation and integrating ro-bots’ observation information , the spatial dimensions of the problem can be reduced .In addition, the accuracy of robot localization can be improved effectively under the background of Gaussian noise .

  16. Evolution of robotics in surgery and implementing a perioperative robotics nurse specialist role.

    Science.gov (United States)

    Francis, Paula

    2006-03-01

    Use of robotics is expanding rapidly in the medical arena. Not only are a growing number of facilities purchasing robotic systems, but the number of surgeons using them also is increasing, which creates many challenges (eg, cost, training, safety). The evolution of robotics in surgery is presented within the context of virtual reality, telepresence, telemanipulation, and passive (ie, master-slave) robotic surgical systems. A new perioperative nursing role, the robotics nurse specialist, was developed and implemented at one facility. The need for a robotics nurse specialist and how this role can help the entire surgical team promote positive patient and facility outcomes also is discussed.

  17. Team 386 prepares for the FIRST competition

    Science.gov (United States)

    2000-01-01

    Voltage: The South Brevard FIRST Team (386) works on their robot, Sparky. The team of students from Eau Gallie, Satellite, Palm Bay, Melbourne, Bayside and Melbourne Central Catholic high schools was co-sponsored by Intersil Corp., Harris Corp., NASA Kennedy Space Center, Rockwell Collins and Interface & Control Systems, Inc. Students from all over the country are at the KSC Visitor Complex for the FIRST (For Inspiration and Recognition of Science and Technology) Southeast Regional competition March 9-11 in the Rocket Garden. Teams of high school students are testing the limits of their imagination using robots they have designed, with the support of business and engineering professionals and corporate sponsors, to compete in a technological battle against other schools' robots. Of the 30 high school teams competing, 16 are Florida teams co-sponsored by NASA and KSC contractors. Local high schools participating are Astronaut, Bayside, Cocoa Beach, Eau Gallie, Melbourne, Melbourne Central Catholic, Palm Bay, Rockledge, Satellite, and Titusville.

  18. Cooperative mobile agents search using beehive partitioned structure and Tabu Random search algorithm

    Science.gov (United States)

    Ramazani, Saba; Jackson, Delvin L.; Selmic, Rastko R.

    2013-05-01

    In search and surveillance operations, deploying a team of mobile agents provides a robust solution that has multiple advantages over using a single agent in efficiency and minimizing exploration time. This paper addresses the challenge of identifying a target in a given environment when using a team of mobile agents by proposing a novel method of mapping and movement of agent teams in a cooperative manner. The approach consists of two parts. First, the region is partitioned into a hexagonal beehive structure in order to provide equidistant movements in every direction and to allow for more natural and flexible environment mapping. Additionally, in search environments that are partitioned into hexagons, mobile agents have an efficient travel path while performing searches due to this partitioning approach. Second, we use a team of mobile agents that move in a cooperative manner and utilize the Tabu Random algorithm to search for the target. Due to the ever-increasing use of robotics and Unmanned Aerial Vehicle (UAV) platforms, the field of cooperative multi-agent search has developed many applications recently that would benefit from the use of the approach presented in this work, including: search and rescue operations, surveillance, data collection, and border patrol. In this paper, the increased efficiency of the Tabu Random Search algorithm method in combination with hexagonal partitioning is simulated, analyzed, and advantages of this approach are presented and discussed.

  19. Improving Care Teams' Functioning: Recommendations from Team Science.

    Science.gov (United States)

    Fiscella, Kevin; Mauksch, Larry; Bodenheimer, Thomas; Salas, Eduardo

    2017-07-01

    Team science has been applied to many sectors including health care. Yet there has been relatively little attention paid to the application of team science to developing and sustaining primary care teams. Application of team science to primary care requires adaptation of core team elements to different types of primary care teams. Six elements of teams are particularly relevant to primary care: practice conditions that support or hinder effective teamwork; team cognition, including shared understanding of team goals, roles, and how members will work together as a team; leadership and coaching, including mutual feedback among members that promotes teamwork and moves the team closer to achieving its goals; cooperation supported by an emotionally safe climate that supports expression and resolution of conflict and builds team trust and cohesion; coordination, including adoption of processes that optimize efficient performance of interdependent activities among team members; and communication, particularly regular, recursive team cycles involving planning, action, and debriefing. These six core elements are adapted to three prototypical primary care teams: teamlets, health coaching, and complex care coordination. Implementation of effective team-based models in primary care requires adaptation of core team science elements coupled with relevant, practical training and organizational support, including adequate time to train, plan, and debrief. Training should be based on assessment of needs and tasks and the use of simulations and feedback, and it should extend to live action. Teamlets represent a potential launch point for team development and diffusion of teamwork principles within primary care practices. Copyright © 2017 The Joint Commission. Published by Elsevier Inc. All rights reserved.

  20. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  1. Robotic Follow-Up for Human Exploration

    Science.gov (United States)

    Fong, Terrence; Bualat, Maria; Deans, Matthew C.; Adams, Byron; Allan, Mark; Altobelli, Martha; Bouyssounouse, Xavier; Cohen, Tamar; Flueckiger, Lorenzo; Garber, Joshua; Palmer, Elizabeth; Heggy, Essam; Jurgens, Frank; Kennedy, Tim; Kobayashi, Linda; Lee, Pascal; Lee, Susan Y.; Lees, David; Lundy, Mike; Park, Eric; Pedersen, Liam; Smith, Trey; To, Vinh; Utz, Hans; Wheeler, Dawn

    2010-01-01

    We are studying how "robotic follow-up" can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated with this technique, we are conducting analog field tests with human and robot teams at the Haughton Crater impact structure on Devon Island, Canada. In this paper, we discuss the motivation for robotic follow-up, describe the scientific context and system design for our work, and present results and lessons learned from field testing.

  2. OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

    Institute of Scientific and Technical Information of China (English)

    罗青; 李智军; 吕恬生

    2002-01-01

    In the context of robot soccer, the robots have to select actions to achieve individual and team goals in the dynamic environment. It is important for a robot to acquire navigation behaviors for avoiding other robots and obstacles in the real-time environment. This paper suggested an efficient approach to collision-avoidance in multirobot system. This approach is based on velocity information of moving objects and the distance between robot and obstacle in three specified directions. The main contribution of this paper is that it provides a method for robots with decreased-computational cost and makes the robot navigate without collision with each other in a complicated environment.

  3. Management Teams

    CERN Document Server

    Belbin, R Meredith Meredith

    2012-01-01

    Meredith Belbin's work on teams has become part of everyday language in organizations all over the world. All kinds of teams and team behaviours are covered. At the end of the book is a self-perception inventory so that readers can match their own personalities to particular team roles. Management Teams is required reading for managers concerned with achieving results by getting the best from their key personnel.

  4. Team Learning Ditinjau dari Team Diversity dan Team Efficacy

    OpenAIRE

    Vivi Gusrini Rahmadani Pohan; Djamaludin Ancok

    2015-01-01

    This research attempted to observe team learning from the level of team diversity and team efficacy of work teams. This research used an individual level of analysis rather than the group level. The team members measured the level of team diversity, team efficacy and team learning of the teams through three scales, namely team learning scale, team diversity scale, and team efficacy scale. Respondents in this research were the active team members in a company, PT. Alkindo Mitraraya. The total ...

  5. A Project Team: A Team or Just a Group?

    Directory of Open Access Journals (Sweden)

    Katerina Hrazdilova Bockova

    2013-11-01

    Full Text Available This paper deals with issues related to work in either teams or groups. The theoretical part which discusses a team and a group with regards to its definition, classification and basic distinction brings in more on the typology of team roles, personality assessment and sociometric methods. The analytical part tests the project (work team of a medical center represented in terms of personality and motivational types, team roles and interpersonal team relations concerning the willingness of cooperation and communication. The main objective of this work was to determine whether the existing team is not by its nature rather a working group that contributes to the generally perceived stagnation of that field.

  6. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  7. Robotic Architectures

    Directory of Open Access Journals (Sweden)

    Mbali Mtshali

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.Defence Science Journal, 2010, 60(1, pp.15-22, DOI:http://dx.doi.org/10.14429/dsj.60.96

  8. Multi-robot caravanning

    KAUST Repository

    Denny, Jory

    2013-11-01

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

  9. Studies in interactive communication. II - The effects of four communication modes on the linguistic performance of teams during cooperative problem solving

    Science.gov (United States)

    Chapanis, A.; Parrish, R. N.; Ochsman, R. B.; Weeks, G. D.

    1977-01-01

    Two-man teams solved credible, 'real world' problems for which computer assistance has been or could be useful. Conversations were carried on in one of four modes of communication: typewriting, handwriting, voice, and natural unrestricted communication. Performance was assessed on three classes of dependent measures: time to solution, behavioral measures of activity, and linguistic measures. Significant differences among the communication modes were found in each of the three classes. This paper is concerned mainly with the results of the linguistic analyses. Linguistic performance was assessed with 182 measures, most of which turned out to be redundant and some of which were useless or meaningless. Those that remain show that although problems can be solved faster in the oral modes than in the hard-copy modes, the oral modes are characterized by many more messages, sentences, words, and unique words; much higher communication rates; but lower type-token ratios. Although a number of significant problem and job-role effects were found, there were relatively few significant interactions of modes with thsse variables. It appears, therefore, that the mode effects hold for both problems and for both job roles assigned to the subjects.

  10. Theory and Application of Multi-robot Service-oriented Architecture

    Institute of Scientific and Technical Information of China (English)

    Yunfei Cai; Zhenmin Tang; Yuhua Ding; Bin Qian

    2016-01-01

    In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot’s underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.

  11. "Team-Contract-Cooperation of Doctors and Patients" Model in Comprehensive Community Management of Diabetes Mellitus%"团队-契约-医患合作"的糖尿病社区综合管理模式研究

    Institute of Scientific and Technical Information of China (English)

    吴燕; 杨俊杰; 王菊兰

    2011-01-01

    Objective To study the effectiveness and feasibility of "Team - Contract - Cooperation - Between - Doctors - and - Patients" model in comprehensive community management of diabetes mellitus, which is suitable for the condition of China. Methods Totally 400 diabetic patients from five communities in Huangpu District of Guangzhou City , who voluntarily accepted the standardized management, were randomly divided as control and intervention groups, with 200 in each. The patients in the control group underwent their original daily life, with no strengthened intervention management; while those in the intervention group were given strengthened intervention management on the hasis of a signed contract between the management team and the patients and their family member, including management of diet, medication, exercise, psychology, and combined therapy of Chinese medicine and western medicines. One year after the management, the changes of diabetic knowledge and community management scores, and blood glucose control of the two groups were compared. Results Compared with the control group, after the management, the quality of life, diabetic knowledge, scores of various items of community management increased significantly in the intervention group ( P < 0.05 ); and such metabolic indicators as blood sugar were improved significantly ( P<0.05 ) . Conclusion This comprehensive community management of diabetes mellitus. " Team - Contract - Cooper-ation - Between - Doctors - and - Patients" model, has a great effect in improving diabetes knowledge, increasing rate of blood sugar control, and improving quality of life. It is worth popularizing.%目的 探讨适合我国国情的"团队-契约-医患合作"的社区糖尿病综合管理模式的有效性、可行性.方法 将广州市黄埔区南岗街所辖五社区(南岗、荔联、厦园、穗东、沙步)的400例自愿接受规范化管理的糖尿病患者随机分为对照组200例、干预组200例.对照组按

  12. An Integrated Human System Interaction (HSI) Framework for Human-Agent Team Collaboration Project

    Data.gov (United States)

    National Aeronautics and Space Administration — As space missions become more complex and as mission demands increase, robots, human-robot mixed initiative teams and software autonomy applications are needed to...

  13. 全机器人辅助腹腔镜下腔静脉取癌栓手术的护理配合%Nursing cooperation of robot-assisted Inferior vena cava tumor emboli removal surgery

    Institute of Scientific and Technical Information of China (English)

    王涛; 曾晓晓; 赵晶; 李丽霞

    2014-01-01

    Objective:To explore the nursing coordination during the process of robot-assisted inferior vena cava tumor emboli removal surgery.Methods:Analyzed and summarized 8 cases of the robot-assisted inferior vena cava tumor emboli removal surgeries about the preoperative special preparation,the position of mechanical arm system, the evaluation of surgery patients,the intraoperative intake and drain management and the surgical precision coordi-nation.Results:8 cases were completely and successfully performed surgeries,with satisfactory doctor-nurse cooper-ation.There were no postoperative complications during our short-term follow-up.Conclusions:The complete preop-erative special preparation,skilled operation steps,accurately and rapidly equipment transfer,shorten the operation time are key points to ensure the success of the surgery.%目的::探讨全机器人辅助腹腔镜下腔静脉取癌栓手术的护理配合流程。方法:通过配合8例全机器人辅助腹腔镜下腔静脉取癌栓手术对术前特殊物品准备、床旁机械臂系统摆放、手术患者的评估、术中出入量管理及手术精准配合进行总结。结果:8例手术均顺利完成,医护配合效果满意,短期随访无术后并发症发生。结论:备好特殊手术物品,熟练的手术操作步骤,准确的快速传递器械,缩短手术时间是确保手术成功的关键。

  14. Best Practices for Robotic Surgery Programs.

    Science.gov (United States)

    Estes, Stephanie J; Goldenberg, David; Winder, Joshua S; Juza, Ryan M; Lyn-Sue, Jerome R

    2017-01-01

    Robotic surgical programs are increasing in number. Efficient methods by which to monitor and evaluate robotic surgery teams are needed. Best practices for an academic university medical center were created and instituted in 2009 and continue to the present. These practices have led to programmatic development that has resulted in a process that effectively monitors leadership team members; attending, resident, fellow, and staff training; credentialing; safety metrics; efficiency; and case volume recommendations. Guidelines for hospitals and robotic directors that can be applied to one's own robotic surgical services are included with examples of management of all aspects of a multispecialty robotic surgery program. The use of these best practices will ensure a robotic surgery program that is successful and well positioned for a safe and productive environment for current clinical practice.

  15. Robotic systems in spine surgery.

    Science.gov (United States)

    Onen, Mehmet Resid; Naderi, Sait

    2014-01-01

    Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.

  16. Educational Robotics: Open Questions and New Challenges

    Science.gov (United States)

    Alimisis, Dimitris

    2013-01-01

    This paper investigates the current situation in the field of educational robotics and identifies new challenges and trends focusing on the use of robotic technologies as a tool that will support creativity and other 21st-century learning skills. Finally, conclusions and proposals are presented for promoting cooperation and networking of…

  17. Incidencia de la cooperación, la cohesión y la eficacia colectiva en el rendimiento en equipos de fútbol. (Incidence of the cooperation, cohesion and collective efficacy on performance in football teams.

    Directory of Open Access Journals (Sweden)

    Francisco Miguel Leo Marcos

    2011-10-01

    Full Text Available ResumenEl objetivo del presente estudio era analizar las relaciones entre la cooperación deportiva, la cohesión de equipo, la eficacia colectiva y el rendimiento colectivo. La muestra de la investigación estaba compuesta por 235 jugadores de fútbol que participaban en el grupo XI de la Liga Nacional Juvenil. Todos los participantes eran de género masculino y con edades comprendidas entre los 15 y los 19 años (M = 17.02; DT = .75. Se utilizaron diversos instrumentos para valorar la cooperación, la cohesión y la eficacia colectiva, y el rendimiento se midió a través de la clasificación. Los resultados indicaban que las diferentes variables inmersas en los procesos grupales cómo son la cooperación, la cohesión de equipo y la eficacia colectiva presentan una relación positiva y significativa entre ellas. Finalmente se plantea un modelo teórico donde se engloban las diferentes variables psicológicas utilizadas como medio para conseguir un mayor rendimiento.AbstractThe aim of this work was to examine the relationships between sport cooperation, team cohesion, collective efficacy and collective performance. The sample was formed by 235 football players that played in XI group of the Juvenile National League. All participants were male and ranging in age from 15 to 19 years (M = 17.02; SD = .75. Different instruments were used to assess cooperation, cohesion and collective efficacy, and performance was measured through classification. Results revealed a significant and positive relationship between those variables. Finally, we showed a theoretical model that included the different psychological variables used as an instrument to reach greater performance.

  18. 81 FR 54853 - Notice of Centennial Challenges Space Robotics Challenge

    Science.gov (United States)

    2016-08-17

    ... Space Robotics Challenge AGENCY: National Aeronautics and Space Administration (NASA). NOTICE: (16-056). ACTION: Notice of Centennial Challenges Space Robotics Challenge. SUMMARY: This notice is issued in accordance with 51 U.S.C. 20144(c). The Space Robotics Challenge is open and teams that wish to compete...

  19. 78 FR 49296 - Centennial Challenges 2014 Sample Return Robot Challenge

    Science.gov (United States)

    2013-08-13

    ... SPACE ADMINISTRATION Centennial Challenges 2014 Sample Return Robot Challenge AGENCY: National Aeronautics and Space Administration (NASA). ACTION: Notice of Centennial Challenges 2014 Sample Return Robot... Robot Challenge is scheduled and teams that wish to compete may register. Centennial Challenges is a...

  20. 2010 FIRST Robotics Bayou Regional Tournament

    Science.gov (United States)

    2010-01-01

    Student-built robots maneuver the course during the 2010 Bayou Regional FIRST (For Inspiration and Recognition of Science and Technology) Robotics competition in Westwego on March 5-6. The annual competition drew 36 high school teams from eight states. NASA's John C. Stennis Space Center supports FIRST Robotics by providing financing, mentors and training, as well as competition judges and referees, audiovisual staff and other volunteer personnel.

  1. Transoral Robotic Surgery.

    Science.gov (United States)

    Yee, Shokjean

    2017-01-01

    Transoral robotic surgery (TORS) is a technique used to treat oral, throat, and skull base cancers using a minimally invasive robotic approach through the mouth and throat. The TORS procedure allows deeper access and dissection of suspicious lesions and neoplastic growths in the oral cavity and those that extend from the throat to the base of the skull. Robotic surgery allows the surgeon to operate in tight spaces without a large open incision. This article discusses symptoms and risk factors of oral, throat, and skull base cancers; types of procedures that can be performed using the TORS approach; specialized instrumentation; patient selection; surgical advantages and disadvantages; patient benefits; and the role of the surgical team in preparing to intraoperatively care for the TORS patient.

  2. ISS Robotic Student Programming

    Science.gov (United States)

    Barlow, J.; Benavides, J.; Hanson, R.; Cortez, J.; Le Vasseur, D.; Soloway, D.; Oyadomari, K.

    2016-01-01

    The SPHERES facility is a set of three free-flying satellites launched in 2006. In addition to scientists and engineering, middle- and high-school students program the SPHERES during the annual Zero Robotics programming competition. Zero Robotics conducts virtual competitions via simulator and on SPHERES aboard the ISS, with students doing the programming. A web interface allows teams to submit code, receive results, collaborate, and compete in simulator-based initial rounds and semi-final rounds. The final round of each competition is conducted with SPHERES aboard the ISS. At the end of 2017 a new robotic platform called Astrobee will launch, providing new game elements and new ground support for even more student interaction.

  3. Forward Deployed Robotic Unit

    Science.gov (United States)

    Brendle, Bruce E., Jr.; Bornstein, Jonathan A.

    2000-07-01

    Forward Deployed Robotic Unit (FDRU) is a core science and technology objective of the US Army, which will demonstrate the impact of autonomous systems on all phases of future land warfare. It will develop, integrate and demonstrate technology required to achieve robotic and fire control capabilities for future land combat vehicles, e.g., Future Combat Systems, using a system of systems approach that culminates in a field demonstration in 2005. It will also provide the required unmanned assets and conduct the demonstration. Battle Lab Warfighting Experiments and data analysis required to understand the effects of unmanned assets on combat operations. The US Army Tank- Automotive & Armaments Command and the US Army Research Laboratory are teaming in an effort to leverage prior technology achievements in the areas of autonomous mobility, architecture, sensor and robotics system integration; advance the state-of-the-art in these areas; and to provide field demonstration/application of the technologies.

  4. Teaming up

    DEFF Research Database (Denmark)

    Warhuus, Jan; Günzel-Jensen, Franziska; Robinson, Sarah

    Questions we care about (Objectives): When students have to work on challenging tasks, as it is often the case in entrepreneurship classrooms that leverage experiential learning, team success becomes central to the students learning. Yet, the formation of teams is often left up to the students...... or pre-arranged at random. Therefore we investigate the importance of team formation in the entrepreneurial classroom and ask: (i) What are the underlying factors that influence outcomes of teamwork in student groups? (ii) How does team formation influence student perception of learning?, and (iii) Do...... functioning entrepreneurial student teams as most teams lack personal chemistry which makes them anchor their work too much in a pre-defined project. In contrast, we find that students that can form their own teams aim for less diverse teams than what is achieved by random assignment. However, the homophily...

  5. Rapid Prototyping Platform for Robotics Applications

    Science.gov (United States)

    Hwang, Kao-Shing; Hsiao, Wen-Hsu; Shing, Gaung-Ting; Chen, Kim-Joan

    2011-01-01

    For the past several years, a team in the Department of Electrical Engineering (EE), National Chung Cheng University, Taiwan, has been establishing a pedagogical approach to embody embedded systems in the context of robotics. To alleviate the burden on students in the robotics curriculum in their junior and senior years, a training platform on…

  6. Robot mother ship design

    Science.gov (United States)

    Budulas, Peter P.; Young, Stuart H.; Emmerman, Philip J.

    2000-07-01

    Small physical agents will be ubiquitous on the battlefield of the 21st century, principally to lower the exposure to harm of our ground forces. Teams of small collaborating physical agents conducting tasks such as Reconnaissance, Surveillance, and Target Acquisition (RSTA); chemical and biological agent detection, logistics, sentry; and communications relay will have advanced sensor and mobility characteristics. The mother ship much effectively deliver/retrieve, service, and control these robots as well as fuse the information gathered by these highly mobile robot teams. The mother ship concept presented in this paper includes the case where the mother ship is itself a robot or a manned system. The mother ship must have long-range mobility to deploy the small, highly maneuverable agents that will operate in urban environments and more localized areas, and act as a logistics base for the robot teams. The mother ship must also establish a robust communications network between the agents and is an up-link point for disseminating the intelligence gathered by the smaller agents; and, because of its global knowledge, provides the high-level information fusion, control and planning for the collaborative physical agents. Additionally, the mother ship incorporates battlefield visualization, information fusion, and multi-resolution analysis, and intelligent software agent technology, to support mission planning and execution. This paper discusses on going research at the U.S. Army Research Laboratory that supports the development of a robot mother ship. This research includes docking, battlefield visualization, intelligent software agents, adaptive communications, information fusion, and multi- modal human computer interaction.

  7. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

    Science.gov (United States)

    Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

    2017-03-14

    The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the

  8. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

    Directory of Open Access Journals (Sweden)

    Michael Mortimer

    2017-03-01

    Full Text Available The Robot Operating System (ROS provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF, Semantic Robot Description Format (SRDF, and its message description language, can be used to identify key robot characteristics to inform User Interface (UI design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by

  9. Characteristics of Behavior of Robots with Emotion Model

    Science.gov (United States)

    Sato, Shigehiko; Nozawa, Akio; Ide, Hideto

    Cooperated multi robots system has much dominance in comparison with single robot system. It is able to adapt to various circumstances and has a flexibility for variation of tasks. However it has still problems to control each robot, though methods for control multi robots system have been studied. Recently, the robots have been coming into real scene. And emotion and sensitivity of the robots have been widely studied. In this study, human emotion model based on psychological interaction was adapt to multi robots system to achieve methods for organization of multi robots. The characteristics of behavior of multi robots system achieved through computer simulation were analyzed. As a result, very complexed and interesting behavior was emerged even though it has rather simple configuration. And it has flexiblity in various circumstances. Additional experiment with actual robots will be conducted based on the emotion model.

  10. Molecular robots with sensors and intelligence.

    Science.gov (United States)

    Hagiya, Masami; Konagaya, Akihiko; Kobayashi, Satoshi; Saito, Hirohide; Murata, Satoshi

    2014-06-17

    CONSPECTUS: What we can call a molecular robot is a set of molecular devices such as sensors, logic gates, and actuators integrated into a consistent system. The molecular robot is supposed to react autonomously to its environment by receiving molecular signals and making decisions by molecular computation. Building such a system has long been a dream of scientists; however, despite extensive efforts, systems having all three functions (sensing, computation, and actuation) have not been realized yet. This Account introduces an ongoing research project that focuses on the development of molecular robotics funded by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). This 5 year project started in July 2012 and is titled "Development of Molecular Robots Equipped with Sensors and Intelligence". The major issues in the field of molecular robotics all correspond to a feedback (i.e., plan-do-see) cycle of a robotic system. More specifically, these issues are (1) developing molecular sensors capable of handling a wide array of signals, (2) developing amplification methods of signals to drive molecular computing devices, (3) accelerating molecular computing, (4) developing actuators that are controllable by molecular computers, and (5) providing bodies of molecular robots encapsulating the above molecular devices, which implement the conformational changes and locomotion of the robots. In this Account, the latest contributions to the project are reported. There are four research teams in the project that specialize on sensing, intelligence, amoeba-like actuation, and slime-like actuation, respectively. The molecular sensor team is focusing on the development of molecular sensors that can handle a variety of signals. This team is also investigating methods to amplify signals from the molecular sensors. The molecular intelligence team is developing molecular computers and is currently focusing on a new photochemical technology for accelerating DNA

  11. Distributed Value Functions for MultiRobot exploration

    OpenAIRE

    Matignon, Laëtitia; Jeanpierre, Laurent; Mouaddib, Abdel-Illah

    2012-01-01

    International audience; This paper addresses the problem of exploring an unknown area with a team of autonomous robots using decentralized decision making techniques. The localization aspect is not considered and it is assumed the robots share their positions and have access to a map updated with all explored areas. A key problem is then the coordination of decentralized decision processes: each individual robot must choose appropriate exploration goals so that the team simultaneously explore...

  12. Mobile robot sense net

    Science.gov (United States)

    Konolige, Kurt G.; Gutmann, Steffen; Guzzoni, Didier; Ficklin, Robert W.; Nicewarner, Keith E.

    1999-08-01

    Mobile robot hardware and software is developing to the point where interesting applications for groups of such robots can be contemplated. We envision a set of mobots acting to map and perform surveillance or other task within an indoor environment (the Sense Net). A typical application of the Sense Net would be to detect survivors in buildings damaged by earthquake or other disaster, where human searchers would be put a risk. As a team, the Sense Net could reconnoiter a set of buildings faster, more reliably, and more comprehensibly than an individual mobot. The team, for example, could dynamically form subteams to perform task that cannot be done by individual robots, such as measuring the range to a distant object by forming a long baseline stereo sensor form a pari of mobots. In addition, the team could automatically reconfigure itself to handle contingencies such as disabled mobots. This paper is a report of our current progress in developing the Sense Net, after the first year of a two-year project. In our approach, each mobot has sufficient autonomy to perform several tasks, such as mapping unknown areas, navigating to specific positions, and detecting, tracking, characterizing, and classifying human and vehicular activity. We detail how some of these tasks are accomplished, and how the mobot group is tasked.

  13. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  14. STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

    Institute of Scientific and Technical Information of China (English)

    Zhang Zheng; Ma Shugen; Li Bin; Zhang Liping; Cao Binggang

    2006-01-01

    Objective To study mechanics characteristics of two cooperative reconfigurable planetary robots when they get across an obstacle, and to find out the relationship between the maximum height of a stair with the configuration of the two-robot, and to find some restrictions of kinematics for the cooperation. Methods Multirobot cooperation theory is used in the whole study process. Inverse kinematics of the robot is used to form a desired configuration in the cooperation process. Static equations are established to analyze the relations between the friction factor, the configuration of robots and the maximum height of a stair. Kinematics analysis is used to find the restrictions of the two collaborative robots in position, velocity and acceleration. Results 3D simulation shows that the two cooperative robots can climb up a stair under the condition of a certain height and a certain friction factor between robot wheel and the surface of the stair. Following the restrictions of kinematics, the climbing mission is fulfilled successfully and smoothly. Conclusion The maximum height of a stair, which the two cooperative robots can climb up, is involved in the configuration of robots, friction factor between the stair and the robots. The most strict restriction of the friction factor does not appear in the horizontal position. In any case, the maximum height is smaller than half of the distance between the centroid of robot1 with the centroid of robot2. However, the height can be higher than the radius of one robot wheel, which profit from the collaboration.

  15. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  16. Cooperative and Competitive Coordination in Swarm Robotic Search for Multiple Targets%群机器人多目标搜索中的合作协同和竞争协同

    Institute of Scientific and Technical Information of China (English)

    张云正; 薛颂东; 曾建潮

    2015-01-01

    群机器人进行多目标搜索时,通过任务分工形成多个子群,各子群分别针对一个意向目标协同搜索,故围绕子群协同中存在的合作关系和竞争关系提出控制策略。为进行合作协同,建立子群发言人的动态遴选机制,不同子群的发言人进行通信,交换所属各子群的最优信息,引导本子群的搜索行为;为进行竞争协同,引入承包机制,按子群的优势地位高低决定是承包还是放弃对某些目标的搜索。两类协同控制的仿真结果表明,合作协同扩大了机器人的感知范围,竞争协同降低了空间冲突机率。二者综合作用,明显提高了群机器人的搜索效率。%The swarm robots should be divided into some sub-swarms through task allocation when searching for multiple targets so as that each sub-swarm can work together on a desired target. For this end, a strategy of control is proposed which apply to cooperation relationship and competition relationship between some sub-swarms. To coordinate cooperatively, a spokesperson for each sub-swarm is required to elect in a self-organization fashion. On behalf of its sub-swarm, it commu-nicate with spokespersons of other sub-swarms, exchanging the respective local best information with these spokespersons each other, guiding its sub-swarm to search a target. For coordinating competitively, a mechanism of contract is proposed. These advantage sub-swarms contract with targets. On the contrast, those disadvantage sub-swarms abandon searching these targets. In a word, we design a control algorithm for the two kinds of coordination at coarse granularity level. Simulation results show that, coordinating cooperatively expand robots’ sense range. Coordinating competitively resolve space conflicts. Coordinating which occur between sub-swarms at coarse granularity level and in sub-swarm frame at fine granularity level, promote search efficiency to more high obviously than the

  17. ARTEMiS (Automated Robotic Terrestrial Exoplanet Microlensing Search) - A possible expert-system based cooperative effort to hunt for planets of Earth mass and below

    CERN Document Server

    Dominik, M; Allan, A; Rattenbury, N J; Tsapras, Y; Snodgrass, C; Bode, M F; Burgdorf, M J; Fraser, S N; Kerins, E; Mottram, C J; Steele, I A; Street, R A; Wheatley, P J; Wyrzykowski, L

    2008-01-01

    (abridged) The technique of gravitational microlensing is currently unique in its ability to provide a sample of terrestrial exoplanets around both Galactic disk and bulge stars, allowing to measure their abundance and determine their distribution with respect to mass and orbital separation. In order to achieve these goals in reasonable time, a well-coordinated effort involving a network of either 2m or 4 x 1m telescopes at each site is required. It could lead to the first detection of an Earth-mass planet outside the Solar system, and even planets less massive than Earth could be discovered. From April 2008, ARTEMiS (Automated Robotic Terrestrial Exoplanet Microlensing Search) is planned to provide a platform for a three-step strategy of survey, follow-up, and anomaly monitoring. As an expert system embedded in eSTAR (e-Science Telescopes for Astronomical Research), ARTEMiS will give advice on the optimal targets to be observed at any given time, and will also alert on deviations from ordinary microlensing l...

  18. Army Robotics

    Science.gov (United States)

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  19. TARDEC Robotics

    Science.gov (United States)

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  20. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann;

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance i...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....